On the analysis of muscle-actuated manipulators

摘要

In previous studies a statistical method for the analysis and design of robot manipulators was developed. The new formalism revealed the limitations of standard joint-actuated mechanical manipulators. Stemming from those results, the authors apply the new modelling concepts from the study of biological arms. The superior performances of muscle-actuated arms over standard joint-actuated manipulators are clearly demonstrated. Therefore, the results are a step towards the design of new mechanical robotic structures, with performances close to the biological systems.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>