Temple University Neural Instrumentation Lab

“Integrating hardware, software, and algorithm research in pursuit of brain-machine interface instrumentation”

29
Oct '08

Pneumatic Arm

by Rich in Multi-Tuned Neuron Project, Projects

This article provides complete documentation for purchasing, constructing, programming, and operating a Pneumatic Arm Truss. The PAT supports a two-degree FOM pneumatic arm for inclusion in the BMI Workbench.

System Operation

Startup

  1. Inspect T-35HD Air Compressor Filter. Rinse with soap & water as necessary.
  2. Inspect T-35HD air tank for water (valve on bottom of tank). Tilt tank and drain if necessary. Ensure valve is closed prior to use. (Stem will be at its longest when closed.)
  3. Inspect LFR-D-MIDI & LF-D-5M-MIDI regulators for condensate. Release condensate if it is within 10mm below filter element by opening the lower blue plugs during system operation.
  4. Adjust the LFR-D-MIDI regulator. Pull blue pressure setting button upwards to unlock it (away from housing). Turn pressure setting button in the ‘-’ direction as far as possible.
  5. Place T-35HD power switch in auto position. The pump will automatically maintain between 100 – 140 PSIG.
  6. Turn the LFR-D-MIDI pressure setting button in the ‘+’ direction until the desired pressure is shown on its manometer. (Note: The input pressure must be at least 1 bar greater than the output pressure.)
  7. Press the the LFR-D-MIDI pressure setting button down to secure it against unintentional turning.

Operation

  1. To Be Completed.

Shutdown

  1. Remove supply pressure. Adjust the LFR-D-MIDI regulator. Pull blue pressure setting button upwards to unlock it (away from housing). Turn pressure setting button in the ‘-’ direction as far as possible.
  2. Power OFF compressor
  3. Release compressor tank pressure and excess condensate via drain valve.
  4. Power OFF setpoint voltage
  5. Power OFF supply voltage

Schematics

Software

videoInput

AutoCAD

NI

Hardware

Festo

  • http://www.festo.com/cms/en-us_us
  • 1.847.759.2600
  • Account #20344983
  • Customer Service: 1.800.993.3786
  • Our Representative: Pat Sabharwal 1.847.759.2629 (Cell: 630.487.0479)
  • Tech Support: 1.866.463.3786
Component Name Part # Pubs Notes
LFR-1/4-D-MIDI Filter/Regulator 186481 Specifications
  • Regulates the compressed air supplied to the set working pressure and compensates for fluctuations in pressure.
  • Cleans the compressed air of dirt particles and condensed water.
  • Filters to 40µm particles
LF-D-5M-MIDI Filter 186460 Specifications
  • Filters to 5µm particles
  • Max 230 PSI (16 bar)
VPPM-6F-L-1-F-0L10H-V1N-S1 Proportional Pressure Regulator 543432 Specifications
  • 24 VDC
VABM-P1-SF-G18-4-P3 Sub-base 542254 See VPPM-6F-L-1-F-0L10H-V1N-S1 Proportional Pressure Regulator  
Sub-base Blanking Plug 3570    
D-3/8I-1/2A Reducing Nipple 3585    
DMSP-10-360N(or 240N) RM-RM Fluidic Muscles 541403 Manual
  • Max Pressure: 116 PSI (8 bar)
  • Normal Operating Range: 0 -15% contraction
  • Max Operating Range: 0 – 25% contraction
  • Max Diameter (@ contraction): 22mm
  • Connecting Thread: M8
  • 541403 W908 Connectors
  • Should be inspected every 500,000 strokes for cracks and blistering
  • Service life can be increased if pressure is exhausted on opposing end from input
QSL-H-1/8-1/4-U-M Push-in/threaded L-fitting 533235 Specifications
  • Size Standard
  • Nominal size 4.5 mm
  • Type of seal on screw-in stud coating
  • Working pressure -0.95 – 10 bar
  • Ambient temperature 0 – 60 °C
  • Max. tightening torque 7 Nm
  • Product weight 14.7 g
QS-H-3/8-1/4-U-M Push-in fitting 533222 Specifications
  • Size Standard
  • Nominal size 4.2 mm
  • Type of seal on screw-in stud coating
  • Working pressure -0.95 – 10 bar
  • Ambient temperature 0 – 60 °C
  • Max. tightening torque 22 Nm
  • Product weight 26.5 g
QS-H-1/4-1/4-U-M Push-in fitting 533219    
DMSP Blanking Plug 3568    
ESK-1/4-1/4 Double Nipple 151521    
PUN-1/4X3/64-U-BL Polyurethane Tubing 546584  
  • 150 PSI (10 bar)
SIM-M12-8GD-5-PU Plug Socket with Cable 525618  
  • VPPM 5m Control Cable
  • $30.11 each

8020

Component Name Part # Pubs (Page #)  
8020 Interactive Catalog		 Notes
3060 T-Slotted Aluminum  1515 46

Specifications
  • Used for arm’s base
  • 15 Series Profile Material (Based on fractional distance between grooves.)
  • 3.0″ x 6.0″
3320 5/16-18 x 11/16 Flanged BHSCS & Economy T-Nut 3320   120  
15-Series Base Plate  2130  303  
Economy Anti-Vibration Mounts  2207  308  
8 Hole Inside Corner Bracket 4304   127  
6 Hole Inside Corner Bracket  4311  125  
6 Hole Inside Corner Bracket  4301  123  
4 Hole Tee Joining Plate  4341  143  
1515 End Cap with Fasteners  2030  266  
1530 End Cap with Fasteners  2045  266  
Pivot Joint  14017  998  
5/16-18 x 1″ Socket Head Cap Screws  3122  101  
2 Hole Inside Corner Bracket  4302  121  
Top Mount Bearing Pads  6898 337   
#10 x 5/6 Pad Screw  40-3628  976  
1/4″ Black Haircell ABS Panel  2313  251  
3″ Single Panel Retainer  7150  397  
1.5″ Single Panel Retainer  2434  242  
Velcro Fastener  3273  281  

National Instruments

Thomas

Ultra Air-Pac T-35HD Electric Air Compressor

  • 3 gallon air storage
  • Pressure switch maintains 100 PSIG (689.5 KPa) -140 PSIG (861.9 KPa)
  • Air Displacement: 4.5 CFM (127 LPM) @ 0 PSI
  • Air Delivery: 2.9 CFM @ 50 PSI (83.5 LPM @ 345 KPa)
  • 2.55 CFM @ 100 PSI (72.22 LPM @ 689.5 KPa)
  • 115V, 60Hz, 10A (@ working pressure), 15A fuse
  • Weight: 48 lbs
  • Requires no lubrication (do not apply oil or damage may result)
  • Motor is equipped with thermal overload protector. If protector trips, the user should manually turn the pump motor off and let the system cool for 5 minutes.

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