Browsing by Issue Date, starting with "1990-09-05"
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- The statistical study of biomechanical armsPublication . Galhano, Alexandra; Carvalho, J. L. Martins de; Tenreiro Machado, J. A.In a companion paper a statistical method for the analysis and design of robot manipulators was presented. The new formalism revealed the limitations of 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. These results are utmost importance as they give a clear basis to the design of new mechanical robotic structures, with performances close to the biological systems.
- The statistical study of robots manipulatorsPublication . Galhano, Alexandra; Carvalho, J. L. Martins de; Tenreiro Machado, J. A.A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which, due to their nature lead to very precise results and strategies but, in general, require laborious conputations. This motivates the need of alternative models based on other mathematical concepts. The proposed statistical method gives clear guidelines towards the robot kinematic and dynamic optimization. Furthermore, the results point out structural characteristics of the trajectory planning algorithm as well as ideal-actuator properties.