Abstract
Aiming at the problem that underwater manipulators are mostly rigid structures and cannot meet the requirements of flexible operations, this paper designs and studies a cable-driven underwater snake arm robot. The snake arm is composed of multiple rigid links connected in series, and the joint rotation is realized by controlling the change of the length of the driving cable, which can effectively solve the problem that the traditional underwater manipulator has poor flexibility and cannot work in a narrow space. In this paper, the 3-D model of the cable-driven underwater snake arm is carried out, the mapping relations among driving space, joint space and operation space are analyzed.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
