• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.208-219
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• 1999

Springs have been employed in a wide range of mechanical systems. This work deals with the concept of an adaptable spring mechanism which can arbitrarily modulate its spring characteristics. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs. We demonstrate that such adaptable springs can be realized by adapting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in its structures. This phenomenon has been explained by several human arm models. Based on the analysis results, we propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verifiy the applicability of these mechanisms through simulation.

• 대한기계학회논문집
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• 제19권1호
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• pp.181-192
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• 1995

In this study, we introduce new types of planar 2 degree-of-freedom robot modules resembling the musculoskeletal structure of the human arm with actuation redundancy. First, for the given actuator sizes the performance analysis for the manipulator with redundant actuation and without redundant actuation is performed with respect to maximum load handling capacity, maximum hand velocity, and maximum hand acceleration. Secondly an algorithm which decides optimal actuator sizes for the given operational performances is introduced, and the optimal actuator sizes for a robot module with four redundant actuation are obtained. The algorithms employed in this paper will be useful to analyze the robot performances and to determine the actuator sizes for general robot manipulators.