Kinematic Robutness of Manipulating Systems
Present day mechanical manipulators have poor performances when compared with the human arm. In fact, joint-driven manipulators are not efficient due to the high actuator requirements imposed by the transients of the operational tasks. muscle-actuated arms are superior because the anatomic levers ad...
| Autor principal: | |
|---|---|
| Outros Autores: | |
| Formato: | article |
| Idioma: | eng |
| Publicado em: |
2019
|
| Assuntos: | |
| Texto completo: | http://hdl.handle.net/10400.22/13516 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13516 |
| Resumo: | Present day mechanical manipulators have poor performances when compared with the human arm. In fact, joint-driven manipulators are not efficient due to the high actuator requirements imposed by the transients of the operational tasks. muscle-actuated arms are superior because the anatomic levers adapt the manipulating exigences to the driving linear actuators. The kinematic analysis of these systems highlights its main properties and constitutes a step towards the design of new mechanical biological-like robotic structures adopting linear actuators replacing the standard rotational joint-driving motor systems. |
|---|