The Mechanical Design of Snake-Arm Robot
Snake-arm robots with a slender and flexible body have many potential applications in aerospace, nuclear and surgery industry. In this paper, we presented a snake-arm robot. This robot has three hollow slender segments composed of balljoints driven by steel cables. A cage-like structure is contrived to drive the steel cables, and a special motor-driven control system is proposed for the control of this robot. A kinematics model has been built with a new moving decomposition method which significantly simplifies the transformation matrix. In the end, the prototype of this robot is performed, and the design of this robot is proved to be feasible by experimental results that have been shown in this paper.
Snake-Arm Continuum Robots Kinematics
Junhu He Rong Liu Ke Wang Hua Shen
Robotics InstituteSchool of Mechanical Engineering and Automation, Bei Hang UniversityBei Jing, China
国际会议
IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)
北京
英文
758-761
2012-07-25（万方平台首次上网日期，不代表论文的发表时间）