Development of light Pneumatic Artificial Muscle (PAM) for positioning task

Azman, Mohammad Nur Shafiq (2017) Development of light Pneumatic Artificial Muscle (PAM) for positioning task. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The pneumatic actuator based on McKibben artificial muscles in antagonistic connection was designed and realized. The artificial muscles are acting against themselves and resultant position of the actuator is given by equilibrium of their forces according to different pressures in muscles. The pressures in artificial muscles (and in this manner muscles contraction too) are controlled by solenoid valves. The aim of this study is to develop the light Pneumatic Artificial Muscle (PAM) for positioning task. Firstly, the working principles of PAM are studied. Then the materials to develop the PAM are selected and pneumatic equipment are been setup. The fabrication process are done until the PAM are produced. After that, fabricate the experimental setup using antagonistic actuation system which can produced bidirectional motion for manipulator which is arm. The primary drive system for this project is pneumatic system. Setup the pneumatic circuit that include compressor, pressure gauge, pneumatic tubing and connector, flow control valve and 5/3 way solenoid valve. Connect the pneumatic air unit to the muscle and actuation system. Pulling force produced by PAM will affect the angle of rotation of the arm. Different pressure inside PAM will produced different pulling force to rotate the arm at specific angle.

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