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For small robot arms, the Lego Technics pneumatic cylinders, controls, and tanks can make the task of actuating an arm quite easy An interesting variation on pneumatic actuation is the Air Muscle, an ingenious combination of a small rubber tube and black plastic mesh The rubber tube acts as an expandable bladder, and the plastic mesh forces the tube to inflate in a controllable manner Air Muscle is available premade in various sizes; it is activated by pumping air into the tube When filled with air, the tube expands its width but contracts its length (by 25 percent) The result is that the tube and mesh act as a kind of mechanical muscle The Air Muscle is said to be more efficient than the standard pneumatic cylinder, and according to its makers it has about a 400:1 power-to-weight ratio..

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Or, when you push on something, it moves in the direction of the push. How much your push changes the object s motion depends on how hard you push. Newton s third law of motion is:

FIGURE 26-5 One of the many available sizes and styles of pneumatic cylinders. This one has a bore of about 1 2 in and a stroke of three in.

To learn more about . . . Building a robotic revolute coordinate arm Creating hands for robot arms Endowing robot arms and hands with the sense of touch Read 27, Build a Revolute Coordinate Arm 28, Experimenting with Gripper Designs 29, The Sense of Touch

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So when you push on an object, such as a bowling ball or marble, you feel an equal force pushing back at you from the object A Newton is practical acceleration Pure acceleration is a bit too abstract for solid objects Sure, gravity can get away with accelerating everything like magic But when you push on it, a LEGO brick moves di erently than a car To get the same velocity out of the car, you have to push it a lot harder than the plastic brick The di erence lies in the mass of the object The more mass, the harder you have to push it to accelerate it at the same rate as the lighter object As far as acceleration is concerned, it doesn t matter how hard you had to push to get to a speed But your muscles care.

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he revolute coordinate arm design provides a great deal of flexibility, yet requires few components. The arm described in this chapter enjoys only two degrees of freedom. You ll find, however, that even with two degrees of freedom, the arm can do many things. It can be used by itself as a stationary pick-and-place robot, or it can be attached to a mobile platform. The construction details given here are for a left hand; to build a right hand, simply make it a mirror image of the left. You can use just about any type of gripper with this arm. In Fig. 27-1, the completed arm is shown with a simple gripper built on it. You can design the forearm so it accepts many different grippers interchangeably. See 27, Experimenting with Gripper Designs, for more information on robot hands.

The design of the revolute coordinate arm is modeled after the human arm. A shaft-mounted shoulder joint provides shoulder rotation (degree of freedom #1). A simple swing-arm rotating joint provides the elbow flexion (degree of freedom #2). You could add a third degree of freedom shoulder flexion by providing another joint immediately after the shoulder. Tests have proved that this basic two-degree-of-freedom arm is quite sufficient for most tasks. It is best used, however, on a mobile platform where the

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