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.
Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR)
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
9 pages
Article/Chapter (Book)
Electronic Resource
English
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