首页|Researcher at Nantes Universite Publishes New Study Findings on Robotics (Coacti vation in Symmetric Four-Bar Mechanisms Antagonistically Actuated by Cables)
Researcher at Nantes Universite Publishes New Study Findings on Robotics (Coacti vation in Symmetric Four-Bar Mechanisms Antagonistically Actuated by Cables)
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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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