a1 Instituto Tecnológico de Celaya, Department of Mechanical Engineering, Av. Tecnológico y García Cubas, 38010 Celaya, GTO, Mexico
In this work a novel spatial hyper-redundant manipulator inspired in the motions of the worms is introduced. The displacement analysis is presented in a semi-closed form solution, whereas the velocity and acceleration analyses are carried out by means of the theory of screws. Among typical applications of most hyper-redundant manipulators, interesting biomechanical applications such as the simulation of the motion of the spine are available for this new artificial worm.
(Received July 16 2010)
(Online publication August 13 2010)