## 4 Common Driving Methods for Rotating Motion Mechanisms
### Pneumatic Drive
#### 4.3.2 Pneumatic Artificial Muscles
The Influence of Different Driving Modes on Rotating Motion Mechanisms--Taking Cam Mechanisms as an Example  
The above content demonstrates the impact of different types of drivers on the performance of the studied system. Taking the cam mechanism as an example, a comparative analysis is conducted on the performance impact of different driving modes on the cam mechanism, as shown in Figure 96 and Table 23. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Types** & **Advantages** & **Disadvantages** & **Applications** \\ \hline Traditional pneumatic drive [180, 181, 182, 183] & Environmental protection, strong adaptability, fast response, and easy to automatically control Supports continuous rotation and step mode switching, with good output performance and low cost & Low torque, accuracy affected by pressure fluctuations and elastic components, high noise & Industrial robots and automation scenarios in harsh environments \\ Multi-mode pneumatic motor [184] & Supports continuous rotation and step mode switching, with good output performance and low cost & Accuracy is affected by the elastic deformation and inertia of silicone tubing & Light load scenarios of pipeline robots, modular robotic arms, and fast mode switching \\ Pneumatic artificial muscles [185] & Flexibility and high precision, no stick-slip phenomenon, high precision positioning & The maximum pressure limit restricts the torque output & Flexible robot joints, precision assembly, and medical equipment \\ \hline \hline \end{tabular}
\end{table} 
Table 22: Comparison of pneumatic drive. Figure 96: Typical driving mode of the cam mechanism. (**a**) Motor drive [186], (**b**) pneumatic drive [187], (**c**) electrohydraulic drive [188]. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Types** & **Advantages** & **Disadvantages** & **Applications** \\ \hline \multirow{4}{*}{Motor drive} & High precision, high & The load capacity is limited, & Precision instruments, \\  & response speed, and high & and the volume and cost & automation equipment, and \\  & energy conversion efficiency & increase when high power & cam mechanisms require \\  & & demand is required & high dynamic response \\  & & & Micro-nano positioning \\  & Nonmagnetic, noise-free, & Low output force, requiring & systems, cam fine-tuning in \\  & compact structure, and & high voltage drive, long term & optical devices, vacuum, or \\  & extremely high resolution & use may require maintenance & low temperature \\  & & due to friction and wear & environments \\  & High load capacity, seamless & The system is complex, with a & Heavy machinery, aerospace \\  & transmission, fast dynamic & risk of leakage, high & high load cam mechanisms, \\  & response, and strong impact & maintenance costs, and & and high-inertia scenarios \\  & resistance & loud noise & require frequent start-stop \\  & & & operations \\  & & & Insufficient oil absorption at \\  & & high speeds leads to decreased & \\  & servo drive & noise, and high integration & efficiency, which requires \\  & & precise control & \\  & Environmentally friendly, & & \\  & adaptable to harsh & Low output torque, accuracy & lightweight cam mechanisms \\  & environments, fast response, & affected by air pressure & in automated production \\  & and easy maintenance & fluctuations, and high noise & lines, and flammable and \\  & & & explosive environments \\  & & & \\  & Low cost, flexible mode & & components affects accuracy, \\  & switching, and simple & and the lifespan of silicone & \\  & structure & tubing is limited for & \\  & & high-pressure applications & \\  & & Large volume, high weight, & \\  & High flexibility, no stick-slip & complex independent control & \\  & phenomenon, high precision & of multiple valves, and limited & \\  & positioning & torque output due to material & \\  & & pressure & \\ \hline \hline \end{tabular}
\end{table} 
Table 23: The influence of different driving modes on cam mechanisms.