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The manipulator robots have many applications, such as industrial process, objects translation, process automation, medicine process, etc. Therefore, these kind of robots are studied in many ways. However, most of the reported works use electrical or hydraulic actuators. These actuators have a linear behaviour and the control is easier than pneumatic actuators. The main disadvantages of electrical actuators are the low power-weight rate, the high current related with its load and its weight. The hydraulic actuators are not ecological, needs hydraulic oil which is feedback to the pump. On the other hand, the pneumatic actuators are lighter, faster, having a greater power-weight rate and air feedback is not needed. However, pneumatic actuators are not used into flexible manipulators developing, due to their highly non linear behaviour. In the case of robot dynamic analysis, other researchers have presented the following works. An equations and algorithms are presented in an easy way to understand for all practical robots (Featherstone, 1987), (Featherstone & Orin, 2000), (Khalil & Dombre, 2002). Also, a dynamic simulation is developed to investigate the effects of different profiles into the contact force and the joint torques of a rigid-flexible manipulator (Ata & Johar, 2004). A study of dynamic equations is developed for a robot system holding a rigid object without friction (Gudino-Lau & Arteaga, 2006). Furthermore, a dynamic modeling analysis is developed for parallel robots (Zhaocai & Yueqing, 2008). The link flexibility is considered for system performance and stability. Moreover, an innovative method for simulation is developed (Celentano, 2008) to allow students and researchers, to easily model planar and spatial robots with practical links. However, the reported works are developed using only electrical actuators, not pneumatic actuators. Therefore, this chapter presents how the pneumatic model is used with a two-link flexible robot and its dynamic analysis for the simplified system. Previous researches by the authors include: a simplified thermo-mechanical model for pneumatic actuator has been obtained (Ramos et al., 2006). For animation purposes, the 27 |
