Four DOF pneumatic robot design and hardware interface

Abstract

The industrial robot applications are very important for global industry. Major of the robots are using an electrical actuator, due its high precision. The advantage of electrical actuators is the low power-weight rate. The pneumatic actuators are used for industrial applications, but its precision is very low. The major problem with pneumatic actuators is the highly nonlinear behavior of the air, due the expansibility and compressibility properties. This work is focused in design a pneumatic robot with 4 degree of freedom, including the hardware interface to control the pneumatic actuators, and some test are developed with a Texas DSP Delfino C2000. The results show a pneumatic robot design including electronic hardware and an algorithm control.