Abstract
The paper deals with a design and simulations of segment for hyper-redundant manipulator. In the paper 6-DOF manipulator segment, which consists of pneumatic and electromagnetic actuators, is designed. CAD model of the segment is introduced and basic parts are described. The basic motion is reached by pneumatic actuator which works through the rubber bellows and it utilizes their expansion properties. Main focus of the study besides segment design is analysis of rubber bellows. From this reason FEM analysis is done in software SolidWorks. In the conclusion the results are discussed.
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