Title :
A translation in artificial terms of the design of biological manipulators
Author :
Hayward, Vincent
Author_Institution :
McGill Res. Center for Intelligent Machines, Montreal, Que., Canada
Abstract :
Powerful design methodologies obtained by exploiting modularity and analogy are used to create a spherical mechanism actuated in parallel with a larger workspace that can be used to construct a complete limb. The design synthesis is performed by translating ideas borrowed from the design of biological manipulators. The methods described make possible the construction of a complete seven-degree-of-freedom arm in terms of two spherical joints with an ordinary revolute joint in between
Keywords :
biological techniques and instruments; biomedical equipment; robots; biological manipulators; complete limb; design methodologies; ordinary revolute joint; seven-degree-of-freedom arm; spherical joints; spherical mechanism; Artificial intelligence; Bones; Computer interfaces; Design methodology; Equations; Kinematics; Manipulator dynamics; Mechanical factors; Problem-solving; Robots;
Conference_Titel :
Engineering in Medicine and Biology Society, 1989. Images of the Twenty-First Century., Proceedings of the Annual International Conference of the IEEE Engineering in
Conference_Location :
Seattle, WA
DOI :
10.1109/IEMBS.1989.96037
