Abstract
An analogous relationship exists between the kinematic structures of proteins and robotic mechanisms. Using this analogy, we attempt to understand the motions of proteins from the perspective of robot kinematics. As a part of this study, we show a method for predicting the internal motions of proteins using data from the Protein Data Bank. The protein model used in this method is simple; it comprises main chains and linear springs between the alpha carbons. The main chains are considered to be robot manipulators that control the positions of the alpha carbons or the distances between them, where the dihedral angles on the main chains correspond to the joint angles of robot manipulators. We apply forces in static equilibrium to the model, evaluate the deformation caused by them, and decompose motions into modes according to structural compliances. Despite being a simple model, the results are almost consistent with the measured internal motions.
