ARTICLE International Journal of Advanced Robotic Systems Design and Analysis of a Bio-Inspired Wire-Driven Multi-Section Flexible Robot Regular Paper Zheng Li1,* and Ruxu Du1 1 Institute of Precision Engineering, Dept. Mechanical & Automation Engineering, The Chinese University of Hong Kong, Hong Kong * Corresponding author E-mail:
[email protected] Received 24 Jul 2012; Accepted 31 Jan 2013 DOI: 10.5772/56025 © 2013 Li and Du; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract This paper presents a bio‐inspired wire‐driven 1. Introduction multi‐section flexible robot. It is inspired by the snake skeleton and octopus arm muscle arrangements. The In the field of robotics, researchers have been building robot consists of three sections and each section is made robots that mimic the appearance or function of their up of several identical vertebras, which are articulated by natural counterparts, such as serpentine robots and both spherical joints and a flexible backbone. Each section continuum robots. A Serpentine robot has a similar is driven by two groups of wires, controlling the bending structure to the snake skeleton. It is composed of multiple motion in X and Y directions. This design integrates the links, with each link driven by a servomotor [1] or other serpentine robots’ structure and the continuum robots’ actuators, e.g., pneumatic artificial muscles [2]. The idea actuation. As a result, it is more compact than traditional of a continuum robot comes from the octopus’ arm, serpentine robots and has a higher positioning accuracy elephant’s trunk, mammal’s tongue, etc.