On the analysis of muscle-actuated manipulators
In previous studies a statistical method for the analysis and design of robot manipulators was developed. The new formalism revealed the limitations od standard joint-actuated mechanical manipulators. Steming from those results, in this paper we apply the new modelling concepts on the study of biolo...
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| Outros Autores: | , |
| Formato: | conferenceObject |
| Idioma: | eng |
| Publicado em: |
2019
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| Texto completo: | http://hdl.handle.net/10400.22/13458 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13458 |
| Resumo: | In previous studies a statistical method for the analysis and design of robot manipulators was developed. The new formalism revealed the limitations od standard joint-actuated mechanical manipulators. Steming from those results, in this paper we apply the new modelling concepts on the study of biological arms. The superior performances of muscle-actuated arms over standard joint-actuated manipulators are clearly demosntrated. Therefore, the resultes are a step towards the design of a new mechanical robotic structures, with performances close to the biological systems. |
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