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122 Ioana Petre et al. Another application for the pneumatic muscle is the leg made for Shadow Robot Company by David Buckley from North Carolina A & T University. (Fig. 6b) The dexterous hand was developed by the Shadow robotic company. The hands operate just like human hands with five fingers. It contains an integrated bank of 40 Air Muscles which make it move. The figure 7 illustrates this fact. Fig. 7 – The Shadow Hand (source www.shadowrobot.com). Caldwell used 18 small McKibben Muscles to power a dexterous fourfingered manipulator. Hannaford built an anthropomorphic arm, having fifteen McKibben Muscles. The Soft Arm, developed by Bridgestone Co. has a shoulder, an upper arm, a lower arm and wrist, and a useful payload of maximum 3 kg. Yoshinada used hydraulically actuated McKibben Muscles to power an underwater manipulator [1]. New Application Areas are: Simulator Technology, High Speed cutting processes, Aeronautical Technology, Wood-working, Metal-working, Medical/ Biomedical, Mobile Applications, Building / Construction, Mining, Process/ Water, Amusement/ Recreation, Medical / Surgical / Hospital 4. Conclusions 1. Even though pneumatic muscles are not capable of offering an extremely wide range of operations, in the case of humanoid robots they offer a wide range of possibilities. Their low assembly weight and high power-toweight ratio make the pneumatic muscles to be considered for use in mobile robotics [1].
Bul. Inst. Polit. Iaşi, t. LVI (LX), f. 2, 2010 123 2. The utilization of the pneumatic muscle is soon to become a good alternative for the present day electric or mechanically drives because of their characteristics and because of the evolution of the industrial development. Received: March 15, 2010 1 Transilvania University of Braşov, Technological Engineering Faculty, Economic Engineering and Production Systems Department, Braşov, România e-mail: ioana.petre@unitbv.ro 2 Material Science and Engineering Faculty, Materials Engineering and Welding Department, e-mail: petredanbv@yahoo.com R E F E R E N C E S 1. D a e r d e n F., L e f e b e r D., The concept and design of pleated pneumatic artificial muscles, International Journal of Fluid Power, 2, 3, pp. 41–50, 2001. 2. M a r c i n č i n J., P a l k o A., Negative pressure artificial muscle—An unconventional drive of robotic and handling systems, Transactions of the University of Košice, pp. 350– 354, Riecansky Science Publishing Co, Slovak Republic, 1993. 3. B a l d w i n H. A., Realizable models of muscle function, Proceedings of the First Rock Biomechanics Symposium, pp. 139–148, New York, 1969. 4. S c h u l t e H. F., The characteristics of the McKibben Artificial Muscle, The Application of External Power in Prosthetics and Orthotics, pp. 94–115, National Academy of Sciences–National Research Council, Publication 874, Lake Arrowhead, 1961. 5. D a v i s S.T., C a l d w e l l D.G., The biomimetic design of a robot primate using pneumatic muscle actuators, 4th International Conference on Climbing and Walking Robots CLAWAR, 2001. 6. K e n n e t h, K u K.K., B r a d b e e r R., Static Model of the Shadow Muscle under Pneumatic Testing, 2006 http://www.ee.cityu.edu.hk/~rtbrad/muscles%20riupeeec%202006.pdf 7. D e a c o n e s c u A. , D e a c o n e s c u T., Contribution to the Behavioural Study of Pneumatically Actuated Artificial Muscles. 6 th International Conference of DAAAM Baltic Industrial Engineering, Tallinn, Estonia, Vol. 1, pag. 215-220, 2008 8. * * * Air Muscles 2008 [Online] Available at: http:// www.techalone.com 23/01/2010] – [Accessed 27.12.2009] http:// www.festo.com – [Accessed 27.12.2009] http://www.shadowrobot.com – [Accessed 27.12.2009]
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