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(5) Tip 120 NPN transistors (5) TIP 125 PNP transistors (1) 74164 serial to parallel IC (1) 74LS373 octal latch (1) Red LED (5) 1N914 diodes (1) Eight-position Molex header (1) Eight-position 3"-long Molex cable (1) DPDT PC-mounted switch (1) DB25 RT angled PC-mounted connector (1) DB25 M-M 6-ft cable (1) PCB (10) 100K-ohm, 1/4-W resistors (3) 15K-ohm, 1/4-W resistors (1) 7805 voltage regulator The robotic arm interface kit contains all the above parts.

(5) TIP 120 NPN transistors (5) TIP 125 PNP transistors (1) 74154 4/16 decoder IC (1) 4011 NAND gate (1) 4049 hex buffer (1) 741 op-amp (1) 5.6K-ohm, 1/4-W resistor (1) 15K-ohm, 1/4-W resistor (1) Eight-position Molex header (1) Eight-position 3"-long Molex cable (1) PCB (10) 100K-ohm, 1/4-W resistors (1) 4.7K-ohm, 1/4-W resistor (1) 7805 voltage regulator

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Two economists produced a 400-page analysis that confronts the quintessential myth of corporate culture: that industrial giants are the handmaidens of economic efficiency. In a book entitled Bigness Complex (Pantheon Books, 1986), Walter Adams and James Brock argue that the preoccupation with bigness is at the heart of the United States economic decline. A little hindsight shows that they miscalled our economic decline. Quite the opposite occurred: we roared off into an amazing economic expansion. They also missed the fact that these big companies have been falling apart on their own, so we don t need any government policy to keep bad bigness things

SU(2) x U(l).

(1) PIC16F84 microcontroller (1) 4.0-MHz crystal Robotic arm interface kit $44.95 OWI robotic arm trainer $84.95 Speech-recognition interface to robotic arm $39.95 Speech-recognition kit $100.00 Parts are available from: Images SI, Inc. 39 Seneca Loop Staten Island, NY 10314 (718) 698-8305

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from happening. And they missed the small-company explosion in high-tech land that helped propel our expansion. This only proves that you can t predict the future. But they did make some powerful points about big.

IN THIS CHAPTER WE WILL CONSTRUCT A HUMANLIKE OR android hand. The actuator we will use to move the fingers in the android hand is the air muscle introduced in Chap. 3. The air muscle is a pneumatic device that produces linear motion with the application of pressurized air. Much like a human muscle, it contracts when activated. You may think, well, pneumatic cylinders have been around quite a while and do the same thing. True, but the air muscle represents a boon to hobbyists and robotists because it is lower in cost, extremely lightweight, flexible, and easier to use. The air muscle has a power-to-weight ratio of about 400:1. Since most of its components are plastic and rubber, the air muscle can work while wet or underwater. The flexible nature of the air muscle allows it to be connected to and contract on/off axis pulleys and levers. The air muscle can contract even when bent around curved surfaces. These easy-to-use features make the air muscle the experimenter s choice over standard pneumatic cylinders. Of course, being a pneumatic device it needs a supply of compressed air. Compressed air is not as readily available as electric current. When I first learned about the air muscle, I thought that a small air system would be too much of a hassle to build. I was wrong. A simple air system can be put together for about $25.00, and a small electric air system for about $50.00. Overall efficiency is lost when using electric power to compress air. However, the air muscle consumes little air volume per activation and the compressed air can be stored. The air muscle s response and cycle times are fast. A small 6" 10-gram (g) air muscle can lift 6.5 pounds (lb).

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