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A worm-inspired new spatial hyper-redundant manipulator

Published online by Cambridge University Press:  13 August 2010

Jaime Gallardo-Alvarado ,
Raúl Lesso-Arroyo  and
J. Santos García-Miranda
Jaime Gallardo-Alvarado*
Affiliation:
Instituto Tecnológico de Celaya, Department of Mechanical Engineering, Av. Tecnológico y García Cubas, 38010 Celaya, GTO, Mexico
Raúl Lesso-Arroyo
Affiliation:
Instituto Tecnológico de Celaya, Department of Mechanical Engineering, Av. Tecnológico y García Cubas, 38010 Celaya, GTO, Mexico
J. Santos García-Miranda
Affiliation:
Instituto Tecnológico de Celaya, Department of Mechanical Engineering, Av. Tecnológico y García Cubas, 38010 Celaya, GTO, Mexico
*
*Corresponding author. E-mail: gjaime@itc.mx
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Summary

In this work a novel spatial hyper-redundant manipulator inspired in the motions of the worms is introduced. The displacement analysis is presented in a semi-closed form solution, whereas the velocity and acceleration analyses are carried out by means of the theory of screws. Among typical applications of most hyper-redundant manipulators, interesting biomechanical applications such as the simulation of the motion of the spine are available for this new artificial worm.

Keywords

Human biomechanicsNovel applications of roboticsParallel manipulatorsRedundant manipulatorsSpace kinematics
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 571 - 579
Copyright
Copyright © Cambridge University Press 2010

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