On the analysis of muscle-actuated manipulators

Galhano, Alexandra; Tenreiro Machado, J. A.; Carvalho, J. L. Martins de

http://hdl.handle.net/10400.22/13458

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Authors

Galhano, Alexandra

Tenreiro Machado, J. A.

Carvalho, J. L. Martins de

Abstract(s)

In previous studies a statistical method for the analysis and design of robot manipulators was developed. The new formalism revealed the limitations od 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. Therefore, the resultes are a step towards the design of a new mechanical robotic structures, with performances close to the biological systems.