Mechanical properties of robot arm operated with muscle coordinate system consisted of bi-articular muscles and mono-articular muscles --muscle contractile forces an viscoelastic properties of robot arm

Toru Oshima; Tomohiko Fujikawa; Minayori Kumamoto

首页> 外文期刊>精密工学会誌 >Mechanical properties of robot arm operated with muscle coordinate system consisted of bi-articular muscles and mono-articular muscles --muscle contractile forces an viscoelastic properties of robot arm

【24h】

Mechanical properties of robot arm operated with muscle coordinate system consisted of bi-articular muscles and mono-articular muscles --muscle contractile forces an viscoelastic properties of robot arm

机译：

获取原文

获取原文并翻译 | 示例

掌桥外文数据库（机构版） >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相似文献
相关主题

摘要

In general, a robot arm has equal number of actuators to number of its joints, whereas a human extremity has an antagonistic pair of bi-articular muscles acting simultaneously on both joints in addition to the antagonistic mono-articular muscles on each joint. In the present study, mechanical properties of a two-joint robot arm equipped with three pairs of antagonistic Mackibben artificial muscles were examined theoretically and experimentally in terms of control engineering. The results obtained in this study demonstrated that the viscoelastic properties and the output forces developed at the end point of the robot arm were controlled independently in the task coordinate system. This might further suggest that, as to control of trajectory, position and velocity of the end point in the task coordinate system, open loop control instead of feedback control will be available in the muscle coordinate system, but not, in the conventional joint coordinate system.

著录项

来源
《精密工学会誌》 |2000年第1期|141-146|共6页
作者
Toru Oshima; Tomohiko Fujikawa; Minayori Kumamoto;
展开▼
作者单位

展开▼
收录信息
原文格式 PDF
正文语种日语
中图分类机械制造工艺;仪器、仪表;
关键词
Robot arm; Human upper extremity; Muscle coordinate system; Task coordinate system; Mono-articular muscle; Bi-articular muscle; Viscoelastic property;

相似文献

外文文献
中文文献

1. How octopus arm muscle contractile properties and anatomical organization contribute to arm functional specialization [J] . Zullo Letizia, Di Clemente Alessio, Maiole Federica The Journal of Experimental Biology . 2022,第6期

机译：How octopus arm muscle contractile properties and anatomical organization contribute to arm functional specialization
2. Study Results from Beijing University of Posts and Telecommunications Update Understanding of Robotics (Robotic Arm Control System Based On Brain-muscle Mixed Signals) [J] . Robotics & Machine Learning Daily News . 2022,第3期

机译：Study Results from Beijing University of Posts and Telecommunications Update Understanding of Robotics (Robotic Arm Control System Based On Brain-muscle Mixed Signals)
3. New Mexico State University Researcher Publishes New Studies and Findings in the Area of Robotics (Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot) [J] . Robotics & Machine Learning Daily News . 2022,第9期

机译：New Mexico State University Researcher Publishes New Studies and Findings in the Area of Robotics (Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot)

Mechanical properties of robot arm operated with muscle coordinate system consisted of bi-articular muscles and mono-articular muscles --muscle contractile forces an viscoelastic properties of robot arm

摘要

著录项

相似文献

相关主题

期刊订阅