Inverse kinematics based on backbone curve for a hyper-redundant tensegrity bird-neck robotic mechanism

Abstract

In this paper, we propose a hyper-redundant tensegrity bird-neck robotic mechanism. To study the inverse kinematics of this mechanism, we propose a method with two steps. Firstly, the backbone curve for the bird neck is used to describe the macroscopic shape of the mechanism. Secondly, by coordinating the internal forces of the cables when the bird-neck tensegrity model is in equilibrium, we can get all cable lengths of the bird neck at a certain shape which is the inverse kinematics solution. Simulations are conducted to verify the validity of the proposed inverse kinematics method.