Study of robot actuator operating as a system on air films

The paper analyzes the dynamics of a robot pneumatic actuator. The mechanical system motion is described by a differential equation system when the air flow is expressed by a non-dimensional Prandtl formula. The findings of the digital study are presented. The zones of self-exciting vibrations of the vibrotransducer have been determined, as well as the dependences of amplitudes and frequency upon the supply air pressure. The dependence of the linear movement of the actuator’s gripper device and its velocity on the geometric parameters of the vibrating transducer of the mechanical system is presented