Design and Application of a 3 DOF Bionic Robot Arm

摘要

Regarding to concrete industrial applications, we examined the functionality and the systematic design of a bionic robot arm developed and driven by biologically inspired principles. Based on a laboratory model a scalable multi-body-dynamics-simulation model has bin developed. Although it is driven by elastically coupled linkages which require an additional control efforts for oscillation damping, we can show possible advantages of a lighter and bending relieved structure and a significant reduction of danger in case of collisions.