A Translation iii Artificial Terms of the Design of Biological Manipulators
نویسنده
چکیده
The design of manipulators is a difficult question in robotics because niost of the traditional disciplines, like kinematics and dynamics are analytic and have litt,le synthetic power. Design is a penerative process. Powerful design methodologies come exploit.ing modularity and analogy. These are used in this paper to create a spherical mechanism actuated in parallel wit11 a large workspace that can be used t,o construct a complete limb. The design synthesis is performed by translating ideas borrowed from the design of biological manipulators.
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