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Advisor(s)
Abstract(s)
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.