Abstract
In this paper, a slender and cordlike differential mechanism is proposed, and the capability of its motion is examined. It has a high number of degrees of motion, many more than the number in the input required to drive it, since it is composed of many differential mechanism units, all of which are two-dimensionally connected to each other. Every unit is made up of a wired pulley which is free around the axis connecting two links. The mechanism is driven by three or more wires on which tension forces changing sinusoidally are applied by DC motors under feedback control using a personal computer. Consequently, progressive transverse wave motion similar to the serpentine movement of snakes has been successfully generated on the mechanism.
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