Statistical analysis of muscle-actuated manipulators

Alexandra M.S.F. Galhano, J. A.Tenreiro Machado, J. L.Martins de Carvalho

Resultado de pesquisarevisão de pares

3 Citações (Scopus)

Resumo

A statistical analysis of biomechanical manipulators is presented. The new approach presented here stems from previous studies of the properties of joint-actuated manipulators. Motivated by the kinesiological aspects of the human arm, it is demonstrated that biomechanical structures have better performances than standard manipulators. In fact, joint-actuated robotic structures are non-optimal because they have to support the direct impact of the operational requirements, while muscle-actuated arms are superior because they have anatomic levers and actuators more adapted to the transients required by the operational tasks. Therefore, these results are a step towards the design of a new generation of better mechanical manipulators.

Idioma originalInglês
Título da publicação do anfitriãoProceedings - IEEE International Conference on Robotics and Automation
EditoraPubl by IEEE
Páginas332-337
Número de páginas6
ISBN (impresso)0818627204
Estado da publicaçãoPublicadas - abr. 1992
EventoProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duração: 12 mai. 199214 mai. 1992

Série de publicação

NomeProceedings - IEEE International Conference on Robotics and Automation
Volume1

Conferência

ConferênciaProceedings 1992 IEEE International Conference on Robotics and Automation
CidadeNice, Fr
Período12/05/9214/05/92

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