Structural Design and Kinematic Analysis of a Bending-Twisting Cable-Driven Snake-Like Arm
In order to further improve the operational efficiency of the snake-like robotic arm,a multi-degree-of-freedom cable-driven snake-like robotic arm with torsional joints was established to lay the foundation for its kinematic modeling.The pitch joint of the traditional snake-like arm(swing+pitch)was replaced by a twisting joint in the serpentine arm(swing+twist),the spatial range of the end effector was analyzed,and the consistency of the pose to achieve the target was studied.The research findings indicate that the proposed end effectors of snake arms have the same spatial characteristics with traditional ones.When switching to specific positions,the unique torsional freedom is utilized,replacing the traditional snake arm's use of pitch and swing linkage to calculate cable extension,thereby improving the response speed and operational efficiency of the robotic arm.
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