Control, Performance and Applications of Antagonist Actuated Manipulator Joints

摘要: Antagonist actuated joints are defined as being driven by a pair of opposing actuators, in the arrangement muscles human joints. A simple method controlling motion and varying compliance joint is presented, along with examples performance prototype joint. The use antagonist actuators to reduce size, inertia backlash manipulator arm discussed. An one that uni-directional rather than single bi-directional actuator. This necessary limbs since can apply force contraction only.