Carvalho, Alexandra M. S. F.Machado, J. A. Tenreiro2016-12-202016-12-202000http://hdl.handle.net/10400.22/8902Mechanical 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.engRoboticsBiomechanicsKinematicsjournal article