Achieving Compliance in Mechanisms: A Comparison between Mechanical Compliance and Compliant Actuators

These article intents to compare the applicability of mechanical compliance and the use of Pneumatic artificial muscles (PAMs) as actuators to achieve compliance in robot arms. PAMs were developed by using biological inspiration from human triceps and biceps in an effort to produce a manipulator with characteristics of a human arm. On the mechanical compliance, this article focuses on how material parameters can be adjusted to achieve mechanical compliance. Furthermore a comparison in applicability of either method will show that the two will function more effectively to achieve compliance if they are used together.