A carregar...
Publicação
Kinematic robustness of manipulating systems
| Nome: | Descrição: | Tamanho: | Formato: | |
|---|---|---|---|---|
| 926.6 KB | Adobe PDF |
Orientador(es)
Resumo(s)
Present day mechanical manipulators have poor performances when compared with the human arm. In fact, joint-drivem manipulators are not efficient dues 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 exigencies 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.
Descrição
Palavras-chave
Mechanical manipulators Robotic manipulators Kinematic Arm biomechanics