Linear actuators:

1

• Linear actuators
• Ball screw
• Pneumatic cylinders
• Air muscles

2
Ball screws
3
(No Transcript)
4
(No Transcript)
5
Pneumatic cylinders
6
(No Transcript)
7
(No Transcript)
8
Air muscles
9
(No Transcript)
10
Name AM-02 Length 210mm Diameter 20mm Load
pulled at 3.5 bars 20 Kilos Load pulled at 50
PSI 45 lbs 25 Contraction with load of 25 lbs
11
Name AM-01L Length 300mm Diameter 12mm Load
pulled at 3.5 bars 3 Kilos Load pulled at 50
PSI 6.5 lbs 25 Contraction with load of 3lbs
12
Name AM-01 Length 150mm Diameter 12mm Load
pulled at 3.5 bars 3 Kilos Load pulled at 50
PSI 6.5 lbs 25 Contraction with load of 3lbs
13
(No Transcript)
14
Advantages of the Air Muscle include

• Lightweight - Air Muscles weigh as little as 10
  grammes - particularly useful for weight-critical
  applications.
• Lower Cost - Air Muscles are cheaper to buy and
  install than other actuators and pneumatic
  cylinders.
• Smooth - Air Muscles have no 'stiction' and have
  an immediate response. This results in smooth and
  natural movement
• Flexible - Air Muscles can be operated when
  twisted axially, bent round a corner, and need no
  precise aligning.
• Powerful - Air Muscles produce an incredible
  force especially when fully stretched.
• Damped - Air Muscles are self-dampening when
  contracting (speed of motion tends to zero), and
  their flexible material makes them inherently
  cushioned when extending.
• Compliant - Being a soft actuator, Air Muscles
  systems are inherently compliant.

15
Air muscle mechanism
16
(No Transcript)
17
(No Transcript)
18
(No Transcript)
19
The main energy source will be either a petrol or
diesel engine. This will eventually supply a
combined compressor and generator topping up
batteries. The initial prototypes will be built
from standard components
20
At the lowest level, the muscle pairs in
each leg use the strain gauges on the muscles to
maintain posture. The next level up is the
interconnection of neighbouring and opposite side
leg pairs to generate the walking gait. The
control computer makes use of odometric
information extracted from leg sensors and the
ground-pointing camera navigation system and
local map building to decide the direction of the
walking motion. The long range navigation or
radio control system provides strategic direction
of the vehicle, including the determination of
when terrain is unreachable or impassable.
Batteries Electricity has to be supplied to
the mine detection sensors, navigation
electronics, radio gear and air valves. Truck
batteries are too heavy, so 6 V. motorcycle
batteries (lead-acid) will have to be used. It is
unlikely that anything else will be available
locally.
21
Our robot
22
(No Transcript)
23
(No Transcript)
24
(No Transcript)
25
(No Transcript)
26
Our first robot wheels
27
(No Transcript)
28
(No Transcript)
29
(No Transcript)
30
(No Transcript)
31
(No Transcript)