Parts List and Sources

To complete this tutorial, you'll need the following items (U.S.-based vendors, year 2011):

TABLE 1: parts needed for the pneumatic inverted pendulum
DESCRIPTION VENDOR PART PRICE PER UNIT QTY
controller Arduino Arduino Duemilanove (or UNO) $30 1
digital-analog converter National Semiconductor DAC0808 < $5 1
operational amplifier National Semiconductor LM324 < $5 1
resistance   5.1 K Ohm < $0.1 3
capacitor   0.1 uF < $0.1 1
rotational encoder US digital 1250 count per circle $78 1
linear encoder     > $200 1
proportional valve FESTO MPYE-5-1/8-HF-010-B $650 1
connectors for the valve FESTO   $5 3
air cylinder GRAINGER

part #: 6W129 (3/4" bore, 6" stroke)

$27 1
clevis rod kit GRAINGER

part #: 6W164

$3 1
bracket, pivot GRAINGER

part #: 6W163

$3 1
flow control valve GRAINGER

part #: 4X132

$38 2
polyurethane tube GRAINGER part #: 4HL92 $40 (100 ft) 1
connector GRAINGER part #: 4HN10 $4 4
carrier igus   $30 1
Some little parts such as screws and nuts are not listed...

And you will also need to have the following equipment:

  • voltage source: +5V, +12V, -12V. Note: If using separate power supplies, they must share a common ground.
  • some tools such as screwdriver, clamp and multi-meter
  • air compressor