A Multisection Snake Like Manipulator with Rear Actuators: SnakeHelper

Abstract:

In the paper, a multisection snake-like manipulator named SnakeHelper is described. For rescue task, the manipulator is designed with cable driven and rear actuators. First, the mechanism design is presented. The manipulator consists of rear actuators, links, joints and cables. Then, some considerations on mechanism design of the device are given. The moment of the motor is calculated. The rotatory angle of each joint is also given against design parameters. At last, the kinematics analysis of the manipulator by D-H method is given.

• Periodical: Applied Mechanics and Materials (Volumes 713-715)
• Pages: 563-568
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.713-715.563
• Online since: January 2015
• Authors: Zhen Zhang*, Ya Fei Cao, Yan An Zhang, Hong Shang
• Keywords: Kinematics, Mulitisection, Rear Actuators, Rescue Task, Snake like

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