摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-调查人员发布了关于机器人的新报告。根据来自法国南特的新闻报道，研究表明，“在生物系统中，关节是由肌肉对抗地驱动的，肌肉可以一致地运动以达到预期的位移，并与适当的力共同激活以改变关节硬度。由此，人们对开发适合于低硬度和高硬度任务的仿生机器人产生了兴趣。”新闻记者从南特大学的研究中引用了一句话：“由对抗索驱动的机构可以是一个合理的仿生关节的近似，对反平行四边形机构的研究表明，塔贡力（＞0）对其刚度有积极的影响。”本文研究了具有交叉/非交叉肢体和U nequal长度的顶杆和底杆的更一般的对称四杆机构。首先，在四杆机构中两个未连接的枢轴对之间连接缆索，并给出了它们的运动极限。结果表明，当机构的四肢交叉（非交叉）时，索力对机构刚度有正（负）影响，这些结果在许多情况下都得到了实验验证。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators publish new report on ro botics. According to news reporting originating from Nantes, France, by NewsRx c orrespondents, research stated, "In biological systems, the joints are actuated antagonistically by muscles that can be moved coherently to achieve the desired displacement and coactivated with appropriate forces to vary joint stiffness. In spired by this, there is an interest in developing bio-inspired robots suitable for low- and high-stiffness tasks." The news journalists obtained a quote from the research from Nantes Universite: "Mechanisms actuated by antagonist cables can be a reasonable approximation of b iological joints. A study on the anti-parallelogram mechanism showed that the an tagonistic forces (>0) positively influence its stiffnes s, similar to the biological joints. This work investigates more general symmetr ic four-bar mechanisms with crossed/non-crossed limbs and top and base bars of u nequal lengths for this property. First, the cables are attached between the two unconnected pivot pairs in the four-bar mechanism, and their limits of movement are presented. Inside these limits, we show that the cable forces have a positi ve (resp. negative) influence on the stiffness of the mechanism when its limbs a re crossed (resp. non-crossed). These results are validated experimentally in al l cases."
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