Driving mechanical robots through linear actuators

Galhano, Alexandra; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13451

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Authors

Galhano, Alexandra

Tenreiro Machado, J. A.

Abstract(s)

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 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.