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

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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.

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The authors declare that all data supporting the findings of this study are available within the article.

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Acknowledgements

The authors would like to thank the anonymous reviewers and editors whose insightful comments and valuable suggestions are crucial to the improvement of the manuscript.

Funding

This work was funded by the National Natural Science Foundation of China under Grant 51875531 and “Pioneer” and “Leading Goose” R&D Program of Zhejiang under Grant 2022C02057.

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Authors and Affiliations

  1. Zhejiang A&F University, Linan, Hangzhou, 311300, China

    Jiangjie Han, Yongshang Wang & Mengbo Qian

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  1. Jiangjie Han
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  2. Yongshang Wang
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Correspondence to Mengbo Qian.

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Han, J., Wang, Y. & Qian, M. Motion Control and Optimal Design of a Biomimetic Manipulator Based on Snake Coiling and Stretching. J Bionic Eng 20, 1514–1531 (2023). https://doi.org/10.1007/s42235-023-00346-w

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