Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR)
Résumé
Designing and modelling bioinspired robots enables mimicking complex biomechanical process as snake swimming locomotion. Cable-driven compliant continuum robot made of separated modules was specifically designed as biology-push process to accurately reproduce snake’s locomotion. This paper aims to present the design and modelling of a bioinspired two sections Serial Continuum Robot (SCR). This latter is a hybrid snake-arm composed of two sections assembled in series as a serial standard manipulator. Each section of the snake-arm is independently actuated and consists of 2-DoF. This polyvalent design combines the advantage of flexible continuum robot and serial manipulator. Swimming snake-like robot is presented as an example of biomimetic application, where the robot is able to significantly mimic snake locomotion with a homogeneous distribution of actuators.