The new design of robot arm

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Abstract
A flexible arm that can take ideally any shape in the three dimensions will necessarily consist of many elements that can move concerning each other. In order to control the shape of such a device (motion of the robot) each element needs an actuator and sensors. For basic modelling of this system behaviour we have to know, measure or suppose behaviour of basic parts of flexible arm. Because the pneumatic spring is a basic part (except servodrives and control) its mathematical model has been created for further using in control and regulation theory. After mathematical describing of pneumatic spring the block diagram has been created. Deduced model of pneumatic spring has been simulated by computer and confronted with physical experimental modelling in laboratory.