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A biomechanical perspective for the kinematic analysis of robot manipulators
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Resumo(s)
Mechanical manipulators are described through mathematical models based on the formalisms of the classical physics. The kinematic and dynamic models aloww the study of the phenomena involved , but ar complex to tackle at a design stage. as a consequence, present day robotic structures have porr performances when compared with the human arm. In fact, joint-driven manipulators ar not efficient tasks. Muscle-actuated arms are superior because the anatomic levers adapt the manipulating exigencies to the driving 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.
Descrição
Palavras-chave
Robotics Biomechanics Kinematics