Development of a biarticular manipulator using spiral motors

This paper presents the design and development of a musculoskeletal-inspired robot manipulator using the third prototype of the spiral motor developed in our laboratory. The spiral motors represents the linear contraction/extension of the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Workspace was evaluated and simulations were done in some control schemes to compare the probable methods of workspace control. Finally, spiral motor control and experimental results were presented.