Publicação
Kinematic Robutness of Manipulating Systems
| 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. |
|---|---|
| Autores principais: | Galhano, Alexandra |
| Outros Autores: | Tenreiro Machado, J. A. |
| Assunto: | Robotics Manipulators Biomechanics Kinematics |
| Ano: | 2002 |
| País: | Portugal |
| Tipo de documento: | artigo |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico do Porto |
| Idioma: | inglês |
| Origem: | Repositório Científico do Instituto Politécnico do Porto |
| 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. |
|---|