A worm-inspired new spatial hyper-redundant manipulator

被引：4
|
作者：
Gallardo-Alvarado, Jaime [1 ]
Lesso-Arroyo, Raul [1 ]
Santos Garcia-Miranda, J. [1 ]
机构：
[1] Inst Tecnol Celaya, Dept Mech Engn, Celaya 38010, Gto, Mexico
来源：
ROBOTICA | 2011年 / 29卷
关键词：
Human biomechanics; Novel applications of robotics; Parallel manipulators; Redundant manipulators; Space kinematics; CERVICAL-SPINE; PARALLEL MANIPULATOR; SINGULARITY ANALYSIS; IN-VIVO; KINEMATICS; MOTION; DESIGN;
D O I：
10.1017/S0263574710000421
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：571 / 579
页数：9
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