Pneumatic Anthropomorphic Robot Arm

During my College days at De La Salle Unviersity, our thesis was called a Pneumatic Anthropomorphic Robot Arm.  By the name it is diven by Pneumatic (Air) power, and Anthropomorphic because it has a "human-like" characteristic.  It is an early (late 1980s) robot arm, and to think 35 years later, it is still quite 'relevant'.  Below images were from a 3D model I rendered as years later I became a Design Engineer by profession...



There are 4 Pneumatic cylinders in all, the 4th one being underneath the Base... that one is controller the end effector or the "hand" of the robot arm...
Having 4 pneumatic cylinders allow it to have 4 degrees of freedom.  A 5th movement, to allow the arm to rotate on its base, was originally planned but the cost of building it was getting too much for us College students... 



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