气动装置的“流体肌肉”是一个全新的气动驱动器，由Festo公司开发研制。它的仿生肌主要是一个中空的橡胶柱体，内置芳族聚酰胺纤维。如果流体肌肉中充满空气，它的直径扩大、长度减小，从而进行流动的弹性运动。“流体肌肉”的应用使得运动过程不仅在动作、速度和强度上与人体运动相似，而且在灵敏度上也与人体运动相似。“流体肌肉”产生的力是相同体积气缸的七倍。“流体肌肉”坚固耐用，即使是在沙滩或尘埃等极端环境中都可以使用。The pneumatic “fluidic muscle”, a completely new kind of pneumatic drive, is a development by Festo.
The bionic muscles consist mainly of a hollow elastomer cylinder embedded with aramid fibres. When the fluidic muscle fills with air, it increases in diameter and contracts in length, enabling a fluid, elastic movement.
The use of the fluidic muscle enables motion sequences which approach human movement not only in terms of kinematics, speed and strength, but also sensitivity.
The fluidic muscle can exert ten times the force of a comparably sized cylinder, is very sturdy, and can even be used under extreme conditions such as in sand or dust.
在 2007年汉诺威工业博览会上，五个自动发声机为开幕式伴奏音乐，这大大得力于Festo公司的技术。发声机中所运用的气动装置和PLC与它们过去在工业自动化中的用途完全不同。在这里它们为科技和音乐架起了桥梁。
布景设计师兼机器人艺术家Roland Olbeter 开发制造了这套独一无二的“音乐发声机”，由四重奏电弦和一个鼓组成。四个弦乐器的声音和功用与电吉他相差无几，不同的是每个弦乐器上面只有一根弦。
每个音乐机中都使用了21个Festo公司生产的微柱体。这些微气柱体仿音乐家左手的机械运动，并通过弦长来决定音高。在鼓上的那些微柱体制动着多个鼓槌和一个爵士乐刷。
澳大利亚作曲家Elena Kats-Chernin为2007年汉诺威工业博览会特别创作了“湛蓝天空”（Fast Blue Air）。这首曲子进一步开发了音乐发声机的声音范围，甚至连气动装置产生的噪音也包括在内。
音乐程序储存于乐器数字接口文件（MIDI files）中。乐声是通过三个步骤产生的。第一步是“数字化”，这时的音乐发声机由PLC控制。第二步，气动元件像吉他手一样拨动琴弦或者像弦乐器音乐家一样击打琴弦来使琴弦震动发声。第三步，乐声像电吉他一样由电子接收器接受并扩大。由此，音乐发声机可以产生各种不同的音乐效果。
Five automated sound machines provided musical accompaniment for the opening celebrations at the Hannover Messe 2007 – thanks to technology from Festo. Pneumatic components and a PLC control system were applied very differently from the way they are used in industrial automation; they created a bridge between technology and art.
气动装置的“流体肌肉”是一个全新的气动驱动器，由Festo公司开发研制。它的仿生肌主要是一个中空的橡胶柱体，内置芳族聚酰胺纤维。如果流体肌肉中充满空气，它的直径扩大、长度减小，从而进行流动的弹性运动。“流体肌肉”的应用使得运动过程不仅在动作、速度和强度上与人体运动相似，而且在灵敏度上也与人体运动相似。“流体肌肉”产生的力是相同体积气缸的七倍。“流体肌肉”坚固耐用，即使是在沙滩或尘埃等极端环境中都可以使用。The pneumatic “fluidic muscle”, a completely new kind of pneumatic drive, is a development by Festo.
The bionic muscles consist mainly of a hollow elastomer cylinder embedded with aramid fibres. When the fluidic muscle fills with air, it increases in diameter and contracts in length, enabling a fluid, elastic movement.
The use of the fluidic muscle enables motion sequences which approach human movement not only in terms of kinematics, speed and strength, but also sensitivity.
The fluidic muscle can exert ten times the force of a comparably sized cylinder, is very sturdy, and can even be used under extreme conditions such as in sand or dust.
流体肌肉和机械系统相互作用在“气动驾驶”中实现了优良驾驶和飞行的模拟环境。一个并联结构的六足系统使用6块Festo流体肌肉制造出了驾驶和飞行的感觉，犹如身临其境。在这次项目中，气动装置供应商巨头Festo公司证实了一个精密水力机构的替代方案，既吸人眼球，又有成本效益。The interplay of fluidic muscles and mechatronic systems in the Airmotion_ride makes it possible to generate an extraordinary range of driving and flight simulations. A hexapod structure using parallel kinematics, with six Festo fluidic muscles, creates a realistic driving and flying sensation. In this project, leading pneumatics supplier Festo demonstrates an exciting, cost-effective alternative to complicated hydraulic constructions.
放飞风筝需要娴熟的技能，Festo公司凭借其“空中自动化风筝”首次证实运用机电学原理可以实现风筝全程自动化控制。这是其在运用流动气流核心技术上的新发展。
“空中自动风筝”包含两个分别用机电控制器操纵的双线风筝。运用伺服电机和人造风，这两个风筝就可以实现室内自动化操作。各风筝线通过快速开关阀连接到Festo公司生产的DMSP射流臂，它可以缩短风筝线的长度。如果风筝断线，通过射流臂收缩风筝线就可以使其平稳飞行。It takes a fair amount of skill to fly a kite. With its Sky_liner project, Festo has become the first company to demonstrate that fully automated control can be achieved with the aid of mechatronics, thus linking a new development to its core competency of automation using moving air.
Sky_liner consists of two two-line kites, each of which is controlled using a mechatronic control unit. The two kites are operated automatically indoors, using servo motors and artificial wind. Each line is connected via fast-switching valves to a fluidic muscle DMSP from Festo, which shortens the line and counterbalances the kite by contracting when the kite breaks away.
It takes a fair amount of skill to fly a kite. With its Sky_liner project, Festo has become the first company to demonstrate that fully automated control can be achieved with the aid of mechatronics, thus linking a new development to its core competency of automation using moving air.
Sky_liner consists of two two-line kites, each of which is controlled using a mechatronic control unit. The two kites are operated automatically indoors, using servo motors and artificial wind. Each line is connected via fast-switching valves to a fluidic muscle DMSP from Festo, which shortens the line and counterbalances the kite by contracting when the kite breaks away.
“气动机器人手臂”的灵感来源于自然界。结合机电一体化和人类仿生学模型，机器人手臂彰显了未来自动运动序列新的可行性。
“气动机器人手臂”由机器骨骼和机器肌肉组成。30块肌肉连接带动骨骼移动，包括尺骨、桡骨、掌骨和指骨以及肩关节和肩胛。这种连接技术目前还没有发明出来。
机器肌肉是Festo公司的一个产品，已经广泛应用于工业应用，叫做流体肌肉。这种技术使用了Festo公司的微型创新压力比例阀，让我们能够精确控制设计的力量和硬度。这些执行器与机电一体化系统和软件的技术水平同步。
扩展“气动机器人”的传感器系统也非常合理，就像开发后背、臀部和脖子部位一样，比如安装摄像头或者有感知能力的零件。这些扩展让机器人能够在更加危险的情况下工作发挥了重要作用。
Airics_arm is inspired by nature. Combining mechatronics and the model of human biology, the robotic arm shows new possibilities in automated motion sequences of the future.
Airics_arm is equipped with artificial bones and muscles. 30 muscles move the bone structure comprising the ulna and radius, the metacarpal bones and the bones of the fingers as well as the shoulder joint and the shoulder blade; joints that are not found in the world of technology.
The muscles are a product of Festo and are already widely used in industrial practice under the name of Fluidic Muscle. This technology, combined with very small and highly innovative piezo proportional valves from Festo, enable us to accurately control the designs forces and rigidity. These actuators are coordinated by state-of-the-art mechatronic systems and software.
Extending the system of sensors of Airics_arm, e.g. with cameras or elements for tactile perception, is just as plausible as the development of a design for a back, hip and neck. These extensions will also play an important role in robotics as even more dangerous and hazardous situations in technology could be assigned to them.
玩溜溜球需要技巧和耐心。通过YoYo系统，Festo证明了在机电元件的帮助下，加上Festo利用流动空气的核心自动化竞争力，能实现全自动控制。 YoYo由3个独立的溜溜球组成，其规格也各不相同，分别为16, 20 和24。所有溜溜球均采取不同种类的麦克斯韦转轮，每一个均由气动肌腱驱动。 Playing with a yo-yo takes skill and patience. With its YoYo, Festo has demonstrated that fully automated control can be achieved with the aid of mechatronics, thus linking with Festo core competency of automation to using moving air.
The YoYo consists of three independent yo-yos of different sizes, 16, 20 and 24. All the yo-yos take the form of Maxwell wheels of various kinds, with each one being driven by a pneumatic muscle.
以自然界的鳐鱼为模板的“空中鳐鱼”是一种由远程遥控的氦气气囊和羽翼振动产生驱动力组成的混合体。它轻便的设计借助氦气的浮力让它可以在广阔的空中“遨游”，这种方法与水中的鳐鱼相似。
“空中鳐鱼”的驱动力由羽翼振动产生。利用射线效应并基于与四周有连接的拱侧翼交替推拉运动的原理，私伺服控制的羽翼可以上下移动。当一侧受到压力时，它几何形的结构会自动向受力的反方向卷曲。一个伺服驱动两片侧翼交替地纵向移动，驱使羽翼上下运动。Air_ray, modelled on the manta ray, is a remote-controlled hybrid construction consisting of a helium-filled ballonet and a beating wing drive. Its lightweight design enables it to “swim” in the sea of air using the lift from the helium in a similar way to the manta ray in water.
Propulsion is achieved by a beating wing drive. The servo drive-controlled wing, which can move up and down, utilises the Fin Ray Effect and is based on alternate pulling and pushing flanks connected via frames. When pressure is exerted on one edge, the geometrical structure automatically curves against the direction of the influencing force. A servo drive pulls the two flanks alternately in longitudinal direction, thus moving the wing up and down.
通过分析龙虾和蝗虫的腿以及人类手指的形态得到了气动手臂的灵感。它是一个带有外部骨架的两节式桥臂，由气动肌腱驱动。智能控制技术使气动手臂能赶上水滴的速度。 气动手臂在技术上的意图是能够在指定半球状运行范围内延伸到尽可能多的区域。 选择一般技术实践的常规原理，使带气动肌腱的两节式伸缩系统同时反向运行。
AirArm is biologically inspired by analyses of lobsters’ and grasshoppers’ legs and by human pointing gestures. It is a two-segmented arm with an external skeleton powered by pneumatic muscles. Intelligent control technology enables AirArm to catch drops of water.
The technical purpose of AirArm is to reach as many points as possible within a hemispherical operating range defined from a specified point in space.
A two-segmented flexing system with muscles operating together in contrary motion was chosen as the general principle for technical realisation.
空中水母的环境是空气。与水下水母不同，远程控制的水母——空中水母不是在水中游，而是在广阔的空中滑翔，因为它有一个中央电机装置和一个智能听候指令的体系。它能够这样是因为它有一个充满氦气的球形网。
空中水母仅有的动力来源就是连接中央电动驱动器的两个锂离子电池。中央驱动器把动力传输到一个锥齿轮上，然后再传给八个连续的直齿轮，直齿轮通过曲柄带动水母上的八个“触角”。每个“触角”都设计成鱼鳍鳍条结构。把蠕动当做这个球形网的动力到目前为止在空军史上还是空白。空中水母是第一个以蠕动为驱动力的室内飞行物体。这种新型的驱动理念基于反弹原理的助推力，让水母轻轻地在空中穿行。
AirJellys environment is the air. Unlike AquaJelly, the remote-controlled jellyfish AirJelly does not swim through water, but instead glides instead through a sea of air thanks to its central electric drive unit and an intelligent, adaptive mechanism. It is able to do so because it consists of a helium-filled ballonett.
AirJellys sole source of power is two lithium-ion polymer batteries connected to the central electric drive unit. It transmits the force to a bevel gear and from there to a succession of eight spur gears, which move the eight tentacles of the jellyfish via cranks. Each tentacle is designed as a structure with Fin Ray Effect . Propulsion of a ballonett by means of peristaltic motion is hitherto unknown in the history of aviation. AirJelly is the first indoor flight object with peristaltic drive. This new drive concept, with propulsion based on the principle of recoil, moves the jellyfish gently through the air.
2009/12/4
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