DESIGN AND ANALYSIS OF PNEUMATIC SYSTEM BASED EXOSKELETON ARMS
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Abstract
The robotic exoskeleton systems are developed significantly to be used for human power assist and haptic interaction with human Motion. The designed pneumatic arm consists of two pairs of cylinders both the sides, a shaft efforts with lead screw mechanism able of converting a movement of piston to rotational movement of arm by utilizing the compressed air from pneumatic system.The designed processes of the suit is carried out based on some integrated information of kinematic, dynamics and structural analysis of the desired exoskeleton configuration as a whole. The extremely dynamic pneumatic arm version can be simply place up at few intermediate spot by controlling the pressure using the flow control valve. This exoskeleton systems can be used for heavy lifting (pick and place) of objects in industry, Can be used along assembly line in various factories (e.g. Such as vehicle painting robots), rescue missions to clear the fallen structures.Since, such exoskeleton directly interacts with a human body there are some mechanical limitations to its design. While designing such exoskeleton movable range of arms, safety and comfort Wearing, low inertia, adaptability are considered.This paper briefly reviews the functionality and design of pneumatic system based hydraulic arms exoskeleton systems.
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