Title :
On the analysis of muscle-actuated manipulators
Author :
Galhano, Alexandra M S F ; Machado, J. A Tenreiro ; De Carvalho, J. L Martins
Author_Institution :
Fac. of Eng., Porto Univ., Portugal
Abstract :
In previous studies a statistical method for the analysis and design of robot manipulators was developed. The new formalism revealed the limitations of standard joint-actuated mechanical manipulators. Stemming from those results, the authors apply the new modelling concepts from the study of biological arms. The superior performances of muscle-actuated arms over standard joint-actuated manipulators are clearly demonstrated. Therefore, the results are a step towards the design of new mechanical robotic structures, with performances close to the biological systems.<>
Keywords :
manipulators; biological arms; joint-actuated manipulators; mechanical robotic structures; muscle-actuated manipulators; Acceleration; Actuators; Arm; Design engineering; Humans; Manipulator dynamics; Pulleys; Robot sensing systems; Shoulder; Statistical analysis;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240474
