Journal of Bionic Engineering ›› 2023, Vol. 20 ›› Issue (4): 1514-1531.doi: 10.1007/s42235-023-00346-w

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Motion Control and Optimal Design of a Biomimetic Manipulator Based on Snake Coiling and Stretching

Jiangjie Han1; Yongshang Wang1; Mengbo Qian1   

  1. 1 Zhejiang A&F University, Linan, Hangzhou 311300, China
  • 出版日期:2023-07-10 发布日期:2023-07-10
  • 通讯作者: Mengbo Qian E-mail:qianmengbo@zafu.edu.cn
  • 作者简介:Jiangjie Han1; Yongshang Wang1; Mengbo Qian1

Motion Control and Optimal Design of a Biomimetic Manipulator Based on Snake Coiling and Stretching

Jiangjie Han1; Yongshang Wang1; Mengbo Qian1   

  1. 1 Zhejiang A&F University, Linan, Hangzhou 311300, China
  • Online:2023-07-10 Published:2023-07-10
  • Contact: Mengbo Qian E-mail:qianmengbo@zafu.edu.cn
  • About author:Jiangjie Han1; Yongshang Wang1; Mengbo Qian1

摘要: The traditionally articulated manipulator had a single control method, and the limited motion trajectory space was unsuitable for working in an unstructured environment. This paper introduces a control method and optimization for a multijoint manipulator Inspired by snakes' curling and stretching motions. First, we analyze the manipulator’s connection mode and motion planning and propose a new motion method. In addition, we calculated the relevant positions and angles and subdivided the motion of some joints based on the principle of the meta-heuristic algorithm. Ultimately, the manipulator in this mode has a larger workspace and more flexible motion trajectories. The experimental results are consistent with the theoretical analysis, which further proves the feasibility and scalability of the scheme.

关键词:  , Bio-inspired robotic system , · Manipulator motion control , · Continuum robots , · Flexible robots , · Snake-like

Abstract: The traditionally articulated manipulator had a single control method, and the limited motion trajectory space was unsuitable for working in an unstructured environment. This paper introduces a control method and optimization for a multijoint manipulator Inspired by snakes' curling and stretching motions. First, we analyze the manipulator’s connection mode and motion planning and propose a new motion method. In addition, we calculated the relevant positions and angles and subdivided the motion of some joints based on the principle of the meta-heuristic algorithm. Ultimately, the manipulator in this mode has a larger workspace and more flexible motion trajectories. The experimental results are consistent with the theoretical analysis, which further proves the feasibility and scalability of the scheme.

Key words:  , Bio-inspired robotic system , · Manipulator motion control , · Continuum robots , · Flexible robots , · Snake-like