RoManSy 6 pp 198-206 | Cite as

A Mathematical Model of a Flexible Manipulator of the Elephant’s-Trunk-Type

  • G. Malczyk
  • A. Morecki


The paper describes the physical moues of an elephant’s trunk as well as the mathematical model of its kinematics in static conditions. The model is based upon anatomical and physiological studies of the trunk. Motion capabilities of the trunk and its muscular structure, constituting the power transmission system, have been taken into account.


Coordinate Frame Elastic Structure Flexible Manipulator Torsional Rigidity Resultant Moment 
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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • G. Malczyk
    • 1
  • A. Morecki
    • 2
  1. 1.CBKO — Informatics DivisionPruszkowPoland
  2. 2.Technical University of WarsawPoland

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