INDUSTRIAL DESIGN PERSPECTIVE ON PNEUMATIC ARTIFICIAL MUSCLE (PAM) DRIVEN MANIPULATORS: A CONCEPT DESIGN FOR A MODULAR ROBOTIC ARM

Abstract

This study reports on the design of a robust PAM (pneumatic artificial muscle) driven manipulator that was conceptualized utilizing designerly knowledge and practice. The design was based on findings derived from a comprehensive literature review on manipulators and complemented by a survey on PAM properties. While the results from the primary review motivated a divergent configuration by exposing the weaknesses of biological models, the outcomes of the survey established the functional, geometrical, and material-related properties that influence the performance of PAM-driven robotic arms. The unconventional device presented in this study displays a unique and modular configuration that allows for a customization, which facilitates the adaptability of the system for various requirements. The manipulator can be used to study and develop control strategies for PAMs and, thanks to the moderate payload and sufficient range of motion, represents a prototype that might pave the way for a wider implementation of soft robots.