Utilize este identificador para referenciar este registo:
http://hdl.handle.net/10400.22/8902
Título: | A biomechanical perspective for the kinematic analysis of robot manipulators |
Autor: | Carvalho, Alexandra M. S. F. Machado, J. A. Tenreiro |
Palavras-chave: | Robotics Biomechanics Kinematics |
Data: | 2000 |
Editora: | Gordon and Breach Science Publishers S.A. |
Resumo: | Mechanical 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. |
URI: | http://hdl.handle.net/10400.22/8902 |
Aparece nas colecções: | ISEP - DEE - Artigos |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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ART_MachadoTenreiro14_2000.pdf | 410,06 kB | Adobe PDF | Ver/Abrir |
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