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Time – Domain Models of the Pneumatic Transmission Lines for the 2 DoF ( Two Degree of Freedom ) Model Gantry Robot

This paper presents a theoretical and experimental method for analyzing pneumatic transmission lines in the time-domain for a model pneumatic gantry robot. The objective is to develop pipeline simulators that can be implemented for modeling of fluid servo systems. After describe the model, the paper illustrates the experimental tests carried out on several different types of lines, and comparing result with those of the corresponding time-domain simulations.