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3X3 Automatic Palletizing Electro-pneumatic Robot

A 3X3 automatic Palletizing Electro-pneumatic Robot, designed with FluidSIM software.

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Artificial Sarcomere

DESIGN AND FABRICATION OF SARCOMERE-LIKE ELECTROMAGNETIC ACTUATOR PROTOTYPE FOR ANTHROPOMORPHIC HAND Sarcomere (Fig 1) is the basic unit of striated muscle tissue. Skeletal muscles are composed of tubular muscle cells (myocytes called muscle fibres) which are formed in a process known as myogenesis. Muscle fibers are composed of tubular myofibrils. Myofibrils are composed of repeating sections of sarcomeres, which appear under the microscope as dark and light bands. Sarcomeres are composed of long, fibrous proteins as filaments that slide past each other when a muscle contracts or relaxes. Fig 1. Sarcomere A muscle fibre from a biceps muscle may contain 100,000 sarcomeres. The sarcomeres are what give skeletal and cardiac muscles their striated appearance. An Electromagnetic actuator is designed to imitate this mechanism of sarcomeres. This artificial sarcomere consists of three parts. Two alpha segments and one zeta segments. The structure of an artificial muscles is s...
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The 27 DOF Anthropomorphic Hand model

The hand (including the wrist) possess 27 degrees of freedom. The movement of each joint in the hand is restricted by ligaments. The same 27 degrees of freedom of hand is replicated in this anthropomorphic hand model by constraining both joints and the extension of artificial muscles. The wrist joint can further be optimised by using constrained artificial muscular extensions instead of joints. The artificial muscles can be actuated using pneumatic/hydraulic actuators or mechanical actuators or artificial sarcomere actuators as described below.
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