Abstract
Over the past decade, investigations have been made into issues which are specific to the design and control of highly-flexible manipulators — arias which are composed of a large number of small, rigid links. Of particular importance to these researchers is the means of joint actuation, since most manipulators in this category are too small to have drive motors placed directly at the joints. This paper also deals with joint actuation, but attacks the problem in a unique fashion. The result is a manipulator in which all of the joints are driven by a single prime mover and whose snake-like motion ensures obstacle avoidance.
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