Designing and modelling bioinspired robots enables mimicking complex biomechanical process as snake swimming locomotion. Cable-driven compliant continuum robot made of separated modules was specifically designed as biology-push process to accurately reproduce snake’s locomotion. This paper aims to present the design and modelling of a bioinspired two sections Serial Continuum Robot (SCR). This latter is a hybrid snake-arm composed of two sections assembled in series as a serial standard manipulator. Each section of the snake-arm is independently actuated and consists of 2-DoF. This polyvalent design combines the advantage of flexible continuum robot and serial manipulator. Swimming snake-like robot is presented as an example of biomimetic application, where the robot is able to significantly mimic snake locomotion with a homogeneous distribution of actuators.


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    Title :

    Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR)


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Publication date :

    2022-04-23


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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