An original way to define, analyze and design mechanical systems with inherently lifelike dynamic properties is presented. The construction of robotic manipulators which embody a complete set of technologically relevant biological principles is outlined. The ultimate objective is to develop a new class of mobile, autonomous, and interactive machines which dynamically emulate live musculoskeletal systems. / This study introduces the mathematical models and algorithms to transform and synthesize the results of research in musculoskeletal physiology into explicit engineering design specifications. The application of a new contractile muscle-like viscoelastic motor, as a servomechanical drive for articulated rigid link mechanisms as well as for a novel flexible trunk-like manipulator, is investigated. Key features of the neuromuscular force control by twitch summation are combined to formulate a pulse stream control method suitable for fluid powered mechanisms.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.37699 |
| Date | January 1997 |
| Creators | Bubic, F. R. (Frank Ranko) |
| Contributors | Zsombor-Murray, P. J. (advisor) |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Doctor of Philosophy (Department of Mechanical Engineering.) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 001810433, proquestno: NQ70178, Theses scanned by UMI/ProQuest. |
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