ESPOCH FIE EIECONTROL

INSTALACIONES E ILUMINACIN

APARATOS DE MANIOBRA
Omar Yancha S. ()
E-mail:

Abstract: This paper presents the development of

a mechanism PAM robot hand based on adaptive
robotic gripper concept for applying to the various
tasks. The Pneumatic Artificial Muscle (PAM)
actuator has played a role to the robotics
application as it provides properties such as high
force to weight ratio, soft and flexible structure.
This robot hand requires only two actuators since
the fingers of the robot hand are designed to have
a synchronized motion with each other
Keywords: Pneumatic actuators,
artificial muscle, robot hand.

Pneumatic

INTRODUCTION

Pneumatic Muscle Actuator (PMA) is a mechanical

device Mode performance that was inspired by
biological muscles. In fact, they are widely used to
combine well with the characteristics of human and
machine interactions.
For example, in orthopedic systems to help the
rehabilitation of people with disabilities being
handled in different ranges of movements similar to
humans [1].

Understand basic concepts of PAM

advantages
restrictions,
Understanding
robotics hand design and the various uses that
can be given.

Analyze the countless applications that can be

realized through these pneumatic artificial
muscles.

METODOLOGIA
This research work develops robotic hand under
the following parameters:
Constraint highest flexibility
human factor
Low cost of material and PAM
The result is three adaptive fingers robot hand with
rotated finger as solution.
Firstly, we try to understand about the human finger
and mimic to be a finger for our gripper. As Fig. 1,
we can see that human finger has three links with
three joints as two of them are connected to each
link and another one joint is connected to the PAM.
There are three links and three joints for our finger.

Currently being developed these robots as they are

suitable for applications in manufacturing
processes or rehabilitation processes, using
system of sensors and actuators tires are made of
a flexible material and can take action to advance
when compressed air is supplied which will make a
move to expand and return when you stop
supplying air. [2]
Therefore, the PAM is considered to be a novel
actuator instead of the conventional pneumatic
system like piston cylinder, which can allow some
slack with its flexibility and reduce the damage of
the structure.

Fig1. Human finger and its joints [1]

MECHANISM DESIGN
OBJETIVO

FUNDAMENTOS DE ROBTICA

REFERENCIAS

By the application of PAM used based on

contraction task since its motion, especially on our
selected model, is only limited to linear. Therefore,
it is quite complicated to design the mechanism
rather than linear with PAM driven.

[1] R. Tomovic and G. Boni, An adaptive

artificial hand, IEEE Transactions on
Automatic Control, vol. 7, no. 1, pp. 3-10,
2003.

The finger is mainly separated into 2 parts, root

and finger mechanism.

[2]
T.
Leephakpreeda,
K.
C.
Wickramatunge, Pneumatic artificial
muscle actuation and modeling, IAENG
Transactions
on
Engineering
Technologies, Special Edition, American
Institute of Physics, 1st edition, 3(2009)
282-296.
[3] T. Tsuruga, S. Ino, T. Ifukube, M. Sato,
T. Tanaka, T. Izumi, and M. Muro, A basic
study for a robotic transfer aid system
based on human motion analysis,
Advanced Robotics, vol. 14, pp. 579-595,
2001.

Fig2. Free body diagram of Root mechanism

Root mechanism: As the Fig.2 shows the operation

of root mechanism, PAM A1 is used to control the
forward motion of the Finger root, while spring K1
is used for returning to zero position. The pulley
and PAM A1 control the behavior of the rest
mechanism, Finger mechanism, through the string
T1.

CONCLUSIONES

It has highlighted the potential of this type

of pneumatic muscle actuator in industrial
applications, and is considered the
prototype that allows the mounting
experimental evidence needed for the
system identification and evaluation of
various control alternatives.
This research should serve as a basis for
the design and development of this type of
artificial muscles.