AirArm 2.0

Jahr

2009

Idee

This arm module is a further development of AirArm from 2008.

The objective

AirArm 2.0 is an exoskeleton with pneumatic 4-axis kinematics; it is capable of throwing darts.

Technical data

• Kinematics: rotary joints
• Actuators: 12 pneumatic muscles
• Tilt sensor: 1
• Potentiometers: 3
• Rotary unit weight: 2 kg
• Upper arm weight: 2.2 kg
• Forearm weight: 2.4 kg
• Hand weight: 0.2 kg

Methodology

AirArm 2.0 is capable of throwing darts. Extensive analyses of a human’s throwing action were initially carried out, along with complex simulation calculations. The strategy of the natural motion sequence, so-called anthropofunctionality, was transferred to the robotic arm. An electromagnet holds the arrow during the throwing process and is deactivated at the moment of release.

Control concept

The control technology for AirArm 2.0 comprises various stages: proportional valves without integrated pressure regulation are used to control the pneumatic muscles; the pressure regulation is dynamic. Position control also ensures adherence to the target position of the four axis angles and a statistical correction of positional deviations resulting from external disturbances.