#7411 en

EXPERIMENTS

# 7411

8+ 204 6 AGES

PIECES

MODELS

› › › TABLE OF CONTENTS Table of Contents & Safety Information.................................................... 1 Kit Contents....................................................................................................... 2 Tips and Preparations......................................................................................3 Using the Robotic Arms...................................................................................4 What is a Robotic Arm?....................................................................................5 Pivoting Robotic Arm............................................................................................ 6 Links and Joints ............................................................................................. 11 Robotic Grabber.............................................................................................. 12 Forces and Moments......................................................................................17 Robotic Claw.................................................................................................. 18 Pneumatics...................................................................................................... 25 Robotic Hand................................................................................................... 26 Robotic Exoskeletons.................................................................................... 30 Exoskeleton Arms.................................................................................................31 Exoskeleton Legs ........................................................................................... 35 Publisher’s Information ............................................................................... 38

Safety Information Warning! Not suitable for children under 3 years.

Choking hazard — small parts may be swallowed or inhaled.

Open the left hole

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t Switch pushed righ

Strangulation hazard — long tubes may become wrapped around the neck.

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Piston goes up

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Store the experiment material and assembled models out of the reach of small children.

Keep packaging and instructions as they contain important information.

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Dear Parents and Supervising Adults,

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Before starting the experiments, read through the instruction manual together with your child and discuss the safety information. Check to make sure the models have been assembled correctly, and assist your child with the experiments.

TIP! l assembly At the top of each mode bar: page, you will find a red lt the model’s ››› It shows how difficu assembly will be:

easy

1

medium

hard

We hope you and your child have a lot of fun with the experiments!

What’s inside your experiment kit: 1

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Description B-SHORT PEG C-LONG PEG C-AXLE CONNECTOR C-CAM CONNECTOR C-AXLE FIXING C-LONG BUTTOM FIXER C-TUBE BOLT CAP C-1 HOLE CONNECTOR C-PNEUMATIC PISTON HANDLE C-BOLT ROD WITH PINS C-3 HOLE ROD FRONT CLOSED C-3 HOLE ROD C-5 HOLE ROD FRONT CLOSED C-5 HOLE ROD C-BENDED ROD C-3 HOLE DUAL ROD C-5 HOLE DUAL ROD C-5 HOLE DUAL ROD BOTTOM CLOSED C-3 HOLE ROUND ROD C-7 HOLE ROUND ROD C-7 HOLE PROLATE ROD C-5 HOLE L SHARP ROD C-9 HOLE ROD C-9 HOLE ROD FRONT CLOSED C-11 HOLE ROD C-15 HOLE DUAL ROD C-145° CRANKSHAFT GEAR-A C-145° CRANKSHAFT GEAR-B C-GRIPPER

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You will also need: scissors, ruler or measuring tape

Checklist: Find – Inspect – Check off 1

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No.

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Qty. 25 26 13 2 7 16 3 5 1 1 4 1 1 4 2 2 2 2 2 2 2 1 2 2 3 5 2 2 4

Item No.

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70 61-W10 - C1D

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1156 -W10 -A1D

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7 0 2 6 - W 10 -J 3 S

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3620 -W10 -A1D

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7061-W10-W2TR

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74 0 9 -W10 - F 2D

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7430 -W10 - B1D

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7411-W10 - D3D

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74 06 -W10 - B1D

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7026 -W10 -X1D

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7026 -W10 - Q2D

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7413-W10 - K 3D

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7413-W10 - K 2D

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70 61-W10 -V1D

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70 61-W10 - R1D

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7026 -W10 -S 3D

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7026 -W10 -S 2D

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74 0 4 -W10 - C1D

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74 0 4 -W10 - C 2D

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7413-W10 - H1D

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7411-W 10 - C 1D

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7411-W10 - C 2D

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7411-W10 - G1D

Description C-3-WAY ADAPTER C-120° CONNECTOR C-5x5 FRAME C-5x5 ARCH FRAME C-5x10 ARCH FRAME C-MOTOR AXLE C-35mm AXLE II C-70mm AXLE II C-100mm AXLE II C-150mm AXLE I C-10T CHAIN GEAR C-20T GEAR C-40T GEAR C-80T GEAR C-WORM GEAR C-OD15.8 FLAT O-RING C-S SECURITY NUT C-SUCTION CUP C-CRANK C-OD8x20mm TUBE C-FRONT FIXING RIM C-PLASTIC BOTTLE C-1200mm TUBE P-DIE CUT PLASTIC SHEET C-SECURED REVERSE SWITCH C-LITTLE AIR WATER SET C-PNEUMATIC PISTON CYLINDER B-PEG REMOVER

Qty. 2 3 1 2 12 3 1 2 4 2 1 2 2 1 3 1 1 3 2 4 1 1 1 1 1 1 1 1

Item No. 7411- W 10 - B 1 S 7411- W 10 - A 1 S 7026 -W10 -T 2D 7411- W 10 - F 1 R 7411- W 1 0 - E 1 R 7026 -W10 - L1D 7413-W10 - O1D 7061-W10 - Q1D 741 3 -W 10 - L 2 D 7026 -W10 - P1D 3569 -W10 - D2D 7026 -W10 - D2R 734 6 -W10 - C1S 7328-W10 - G2R 734 4 -W10 -A1D R 1 2- 0 5 11 5 6 - W 10 -J1D R 1 2-2 5 7063-W10-B1S1 74 00 -W10 - G2D 7389 -W10 - B2D 7 389 -W11-A1B 11 55 - W 8 5 -1 2 0 K 41#7411 1155-W85-I4DN 7389 -W85-A1D 7411- W 8 5 - A 7 0 61- W 10 - B1Y

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› › › TIPS AND PREPARATIONS

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Making the test objects You can make these objects and use them to test your robotic arms.

Trying picking these objects up with each robotic arm.

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Cutting the tube to length

Tips for operating the little air water set

You must cut the 1200-mm tube into these lengths. The specific lengths needed for each model are indicated in the assembly instructions for each model. You can also write the lengths on the tubes with a pen so they are easier to tell apart.

To operate all the models, you must pump up the plastic bottle.

Always set the switch lever to the center position before pumping, so the air pressure builds up in the plastic bottle. Pump the little air water set 30-40 times. To operate the models, move the switch lever to one side or the other. For some models, it is easier if you remove the little air water set and plastic bottle first and then reattach them to operate the model. Pumping 30 times can operate model 10 -15 times. The carbon rod inside the little air water set can withstand the maximum bending force of 4 kg. (8.8 lb.).

450 mm x 2

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300 mm x 1

› › › USING THE ROBOTIC ARMS General instructions for using the pneumatic system After following the step-by-step instructions to build one of the models (starting on page 6), follow these general instructions to operate the pneumatic system in the model. Each model works a little differently.

There are specific instructions for using each model at the end of each set of assembly instructions. See page 25 for an explanation of how the pneumatic system works.

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Put the switch lever in the center position.

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Depending on the model, you will need to push or pull the switch lever to operate the device in one direction.

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Again, depending on the model, you will need to push or pull the switch lever to operate the device in the other direction.

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Pump about 30 times to fill the plastic bottle.

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For example, here the gripper closes when you pull the lever.

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In this example, the gripper opens when you push the lever.

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CHECK IT OUT

What Is a Robotic Arm? A robotic arm is a machine that may look and function somewhat like a human arm, but is able to perform tasks with greater strength, accuracy, and speed, or perform tasks that are too dangerous for a human. Robotic arms are one of the most common types of robots used in manufacturing.

A robotic arm is a combination of mechanical, electrical, and computer systems.

This kit focuses on the mechanical portion of designing robotic arms, which is the expertise of mechanical engineers. Engineers apply physical laws and empirical knowledge to build complex systems. Empirical knowledge is simply information you learn by observing the results of experiments and observing occurrences in the world around you. Mechanical engineers focus on the design, construction, and operation of machines.

IDENTIFY NEEDS AND CONSTRAINTS

WH AT IS DE SIGN ign� to describe Engineers often use the word “des of steps that are ence what they do. Design is a sequ functioning to used to take an idea from concept design process is product or process. The engineering ated multiple iterative , meaning steps can be repe be made each time , time s and then improvements can

is achieved. until the correct or optimal outcome

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IMPROVE DESIGN

ENGINEERING

DESIGN PROCESS

TEST AND EVALUATE PROTOTYPE

BUILD A PROTOTYPE

DEVELOP POSSIBLE SOLUTIONS

PIVOTING ROBOTIC ARM

Model 1 Pivoting Robotic Arm

Parts Needed 1

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3

5

x25 x26 x13 x7

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A Repeat steps 1 and 2 four times.

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Pivoting Robotic Arm Model 1 11

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PIVOTING ROBOTIC ARM

Model 1 Pivoting Robotic Arm

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PIVOTING ROBOTIC ARM 44

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Model 1 Pivoting Robotic Arm

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HOW TO USE

Model-1

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300mm tube

Connection

Put the switch lever in the center position.

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45 Pump about 30 times to fill the plastic bottle.

450mm tube

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Connection

The gripper will close when you pull the switch lever.

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46 450mm tube 5

Connection

Rotate the handle to move the gripper.

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EXPERIMENT 1

Can you move it?

HERE’S HOW Place a cylinder in front of the pivoting robotic arm. Use the robot arm to move the cylinder from one location to another using two different paths. What positions can the pivoting robotic arm not reach?

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Done!

The gripper will open when you push the switch lever.

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CHECK IT OUT

LINKS AND JOINTS In engineering, it is often necessary to create simplified models of structures or systems in order to better understand their physical characteristics or behaviors.

When simplifying a robotic arm to better understand it, the mechanical parts can be thought of as either links or joints.

Links are the rigid structural elements of the robotic arm. In this kit, this includes the frames and rods. The joints are the pieces that allow for movement, such as the axle connector, axle fixing, gears, and pneumatic piston cylinder in this kit.

Joints allow a link to move by either rotation or translation (moving from one point in space to another).

m what is Together, links and joints for word The called a kinematic chain. s ect “kinematic” refers to how obj s link in the move. In a robotic arm, the ed by kinematic chain are constrain other their connection points to the is ow elb r you links — like how motion of constrained by the range of d how a tan ers your shoulder. To und ole, you wh a robotic arm can move as nt in me can look about how each ele ve. the kinematic chain can mo

otic arm, called Of ten the end of the rob ned separately the end effector, is desig ct . It is designed to intera from the rest of the arm n ma hu a e onment, lik with objects in its envir tasks such as welding, zed hand, but for speciali . ing material s, and so on gripping, spinning, apply

MOV EMENT THRO UGH SPACE Unlike a human arm, a robotic arm can have a lot more freedom to move through space in different ways. The movement of a robotic arm can be described by the term “degrees of freedom.” The position and orientation of an object in space can be given by three component s of movement in the x, y, and z directions, and three component s of rotation around those axes. For a single object in space, there are at most six degrees of freedom.

Each joint in a robotic arm has a certain number of degrees of freedom, which might be less than the maximum number of six. For exg ample, not all of the pivotin arot robotic arm’s joints can te 360 degrees.

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The area defined by all of the positions in space tha t the end of the robotic arm can reach is known as the workspace. If the object tha t the robotic arm needs to pick up is not in the works pace, the robot cannot pic k it up! The workspace dep ends on the degrees of fre edom, limitations of the join ts, lengths of the linkages, and the angles at which the object must be picked up.

ROBOTIC GRABBER

Model 2 Robotic Grabber

Parts Needed 1

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x23 x26

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Robotic Grabber Model 2 10

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ROBOTIC GRABBER

Model 2 Robotic Grabber

ROBOTIC GRABBER

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Robotic Grabber Model 2 24 23

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28 Push the tube through the middle of the arm.

Connection

300mm tube 1

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Model 2 Robotic Grabber

Push the tube through the middle of the arm.

Connection

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450mm tube

Push the tube through the middle of the arm.

Connection

450mm tube

Done!

Model-2

EXPERIMENT 2

HOW TO USE

Lifting a bottle

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HERE’S HOW

Try to lift a filled water bottle using the robotic grabber with your arms outstretched. Then try to pick up the water bottle with the robotic grabber close to your body. Which way is easier?

Put the switch lever in the center position.

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Done!

Pump about 30 times.

The gripper will open when you push the switch lever.

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The gripper will close when you pull the switch lever.

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CHECK IT OUT

Forces and Moments Understanding how forces and moments influence a robotic arm is critical for its design, because a mistake in these calculations could cause the robotic arm to break.

ACCE LE RATI ON To understand force, you must first understand acceleration. Accelerat ion is a measure of how much the velocity of an object is changing. For example, a car is accele rating when it speeds up, slows down, or change s direction.

MOME NT

depending an object to move, but A force tends to cause ce can lied on an object , the for on where the force is app you push rotate . For example, if also cause an object to ses it to force of your push cau on the end of wrench, the is ate causes an object to rot turn. How much a force far how on s nt. A moment depend measured by its mome a of big s of rotation and how the force is from the axi la: be written as the formu can s force is applied. Thi M=FĂ—d

ce or nt by increasing the for me mo the You can increase rted. exe is ce for the s on which the distance from the axi r you hed etc str you ent 2 when You felt this in Experim . arm r robotic arm out with the grabbe

FO RC E

ught of as a push or A force can simply be tho the mass of the object pull. A force is equal to ration. This is multiplied by its accele la: mu summarized by the for = m Ă— a.

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in a robotic arm has a Each linkage and joint that points downward weight, which is a force otic arm must not only towards the Earth. A rob weight of the arm itself, be able to support the l what the robot arm wil but also the weight of lift can ot rob a t ight tha carry. The maximum we acity. cap ng ryi car the is called

A R M SAGG IN G Arm sagging oc curs when the ro botic arm is too long and he avy, causing it to bend when it is stretched out.

This is unde sirab le . You want your robotic ar m to be as rigid and light as possible . This ca n be overcome partially by positioning the heaviest compo nent s as close to the base of th e robotic arm as possible .

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ROBOTIC CLAW

Model 3 Robotic Claw

Parts Needed 1

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x23 x26 x11 x2 x4

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Robotic Claw Model 3

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Model 3 Robotic Claw

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Place the larger arc on the outside.

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How to remove the pneumatic piston cylinder handle

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m B 1.Push the pneumatic piston handle back into the pneumatic piston cylinder.

2.Slide the peg remover around the neck of the pneumatic piston handle .

B Align the tip of the claw with the center line.

3.Gently use the peg remover to pry the pneumatic piston handle from the pneumatic piston cylinder.

4.Pull the pneumatic piston handle out of the pneumatic piston cylinder.

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Robotic Claw Model 3 30

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27m

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Align the tip of the claw with the center line.

Align the tip of the claw with the center line.

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ROBOTIC CLAW

Model 3 Robotic Claw

Bottom View

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Robotic Claw Model 3

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ROBOTIC CLAW

Model 3 Robotic Claw

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300mm tube

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450mm tube

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Done!

Model-3

EXPERIMENT 3

Pneumatic strength

HOW TO USE 1

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4

HERE’S HOW Instead of the normal 30 pumps to fill the plastic bottle, use only 15 pumps.

Then try to pick up one of the cylinders.

Repeat this experiment using 30 pumps and then 40 pumps.

Compare the speed and strength of the grabber each time.

Put the switch lever Pump about 30 times. The upper handle in the center position. controls the upper linkage.

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The lower handle controls the lower linkage.

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The gripper will close when the switch lever is down.

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The gripper will open when the switch lever is up.

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CHECK IT OUT

Pneumatics

In a machine, the parts that are responsible for moving or controlling a mechanism are called actuators. The robotic arms in this kit use mechanical parts (gears and axles) to move the robotic arm and a pneumatic piston cylinder to open and close the gripper. The tubes, pneumatic piston cylinder, little air water set, and plastic bottle together are known as a pneumatic system.

HIGH PRESSURE

WHAT IS PRESSURE

Store air in plastic bottle

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LOW PRESSURE

Air is a gas consisting of many very small molecules that are constantly moving in all directions. When these molecules bump against an object they push against it. Pressure is a measure of how hard and how AIR

Pump

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often these gas molecules are pushing on an area. In

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Switch in center (closed)

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physics, pressure is a force over an area and has units

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of pounds per square inch (psi), Pascal, or Bar. water set handle , you are When you pump the little air here into the plastic bottle. pushing air from the atmosp air molecule s bouncing Because there are now more tle, the pre ssure inside the around inside the plastic bot . plastic bottle has increased s switch is opened, it release e ers rev d ure 2 When the sec d rize ssu pre The tle. plastic bot the pre ssurized air from the on pist atic um pne into the air travel s through the tube pneumatic piston cylinder the in re ssu pre The cylinder. pneumatic piston cylinder then increases, pushing the handle outward. the third d reverse switch is pushed to 3 When the sec ure from the pneumatic piston position, the air is released atic piston cylinder handle cylinder, pulling the pneum

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Open the left hole

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Pneumatic piston cylinder handle goes up

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Switch pushed right

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inward.

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Open the right hole

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Pneumatic piston cylinder handle goes down

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Most industrial robotic arms use electric motors because they are usually cheaper than pneumatic systems and provide faster and more precise control over movement.

However, pneumatic actuators are stronger and advantageous in applications where an electrical spark could start a fire.

ROBOTIC HAND

Model 4 Robotic Hand

Parts Needed 1

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Robotic Hand Model 4 10

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ROBOTIC HAND

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Model 4 Robotic Hand 24

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Adjust the 5 hole rod to the angle shown in yellow.

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When the cylinder is pulled all the way out, the two grippers should be closed.

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Connect the cylinder to the 5 hole rod.

Connection

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300mm tube

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Robotic Hand Model 4 28

Connection

450mm tube

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Connection

450mm tube

Done!

Model-6 EXPERIMENT 4

Coming in handy

HOW TO USE 1

2

3

HERE’S HOW

If you wear an oversized sweater or sweatshirt with large sleeves, you can slide the robotic hand up your sleeve so that only the hand is outside the sleeve.

Operate the trigger inside the sleeve.

Now try to pick up various objects. Can you pick up some items and not others?

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Put the switch lever in the Pump about 30 times. center position.

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The gripper will open when you push the switch lever.

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The gripper will close when you pull the switch lever.

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CHECK IT OUT

Robotic Exoskeletons What you have learned about robotic arms can also be applied to the design of robotic exoskeletons. An exoskeleton is a wearable mobile machine that is used to increase limb strength and endurance. Exoskeletons could be used in the medical field to improve people’s quality of life or to make tasks easier and

safer. They could also be used in industrial or commercial applications — wherever increased strength would come in handy. However, currently there are several challenges to creating viable exoskeletons.

ACTUATORS Just as is true of the materials needed to build an exoskeleton, the actuators that are needed must be lightweight and powerful, but they must also be precise in their movements. You have seen from the robotic arm models how you are not able to easily control the degree with which the grabber closes. One possibility to overcome this is through the use of pneumatic artificial muscles.

Pneumatic artificial muscles are pressurized air bladders that are able to contract and shorten, or relax and lengthen, mimicking the action of real muscles.

Robotic exoskeleton legs could help you lift heavier objects.

MATERIALS The materials needed to build an exoskeleton require tradeoffs between strength, weight, and cost. The materials used must be strong enough so that they do not fail or break easily but also need to light to reduce the power needed to move the exoskeleton. However, the use of lighter and stronger materials, such as titanium or carbon-fiber, can be more expensive and require more complex construction and manufacturing methods.

This robotic exoskeleton helps the woman move her legs.

A boy uses a robotic machine for walking therapy.

POWER Another challenge is that there are currently few power sources that have enough energy to power an exoskeleton for more than a few hours. Non-rechargeable batteries have more energy but require transporting, storing, and replacement. On the other hand, rechargeable batteries require a system to recharge the battery. Most current prototype exoskeletons are tethered to a separate power source, which may be sufficient if the exoskeleton is used in a limited range, such as a home or factory. However, this would not work if the exoskeleton is required to go to locations that do not have access to a power source.

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EXOSKELETON ARMS

Exoskeleton Arms Model 5

Parts Needed 1

2

3

x18 x24 x1

4

5

6

7

8

9

10

x2

x1

x10

x3

x5

x1

x1

20

23

x1

x2

34

1

25

26

x3

x4

37

38

39

x1

x1

x1

11

x4

27

17

18

x3

x2

x2

28

x2

29

x2

x2

42

x2

x10

14

32

33

x1

x2

45

46

47

49

50

x1

x1

x3

x2

x1

2

54 51

52

56

53

57

55

x1

x1 x1

x1

x1

x1

x1

4

3

5

6

7

8

31

EXOSKELETON ARMS

Model 5 Exoskeleton Arms

9 10

11

10

0m

m

14 12

13

15

16

18 17

150mm

3

32

Exoskeleton Arms Model 5 19

Connection

450mm tube 1

2

3

20

21

Connection

300mm tube

450mm tube

Connection

24 23 22

×2

B A

C B

33

Hole B

×2

EXOSKELETON ARMS

Model 5 Exoskeleton Arms

26

25

27

Ă—2 28 29

30

70

mm

31

32 The axle passes through the center of the gear and the holes in the frame.

Done!

How to use: 1. Put the switch lever in the center position.

2. Pump about 30 times.

3. The arms will move when you move the switch left and right.

34

EXOSKELETON LEGS

Exoskeleton Legs Model 6

Parts Needed 1

2

x8 x20 24

x1

1

3

4

5

6

7

8

9

x5

x2

x2

x10

x1

x5

x1

25

26

x2

x4

37

38

x1

x2

41

x2

11

x2

27

x2

x4

28

x2 42

14

20

23

x1

x1

33

x1

34

x1

x7 51

45

46

47

50

x1

x1

x3

x1

2

x1

54 52

53

56

57

55

x1 x1

x1

4

x1

x1

x1

3 5

6

9

8 7

35

Model 6 Exoskeleton Legs 10

10

11

12

0m

m

3

10

0m

m

70

mm

13

15

14

Ă—2

Hole B

Hole B

16

17

Ă—2

18

3

3

36

Exoskeleton Legs Model 6 20 19

450mm tube

21

1

2

3

Connection

22

23

300mm tube 450mm tube

Connection

Connection

37

24 How to use: 1. Put the switch lever in the center position.

2. Pump about 30 times.

3. The arms will move when you move the switch left and right.

Done!

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