Abstract
The mechanical structure and control system architecture for pneumomechanical single-axis modular units are described. The units were designed as subsystems to allow the construction of robots with kinematics suitable for a wide range of workhandling tasks. The controls also demonstrate modularity with regard to both software and hardware. They have been designed to reduce the systems engineering required when user-defined manipulators are being constructed and to provide a user-friendly interface for operators.
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