Unfolded/tightened mechanism series support design based on characteristics of flying snake spine

This article proposes a new design of a 3D unfolded/tightened mechanism based on the spine structure of golden tree snake, which can realize torsion and bending. Inspired by golden tree snake vertebrae space deformation characteristics, analyzing the anatomy characteristics of the golden tree snake spine bone and muscle distribution characteristics, The bionic mechanism and drive unit can drive the 3D unfolded/tightened mechanism and meet the demand of unfolded/tightened mechanism pose and adjustment, compared with the traditional unfolded/tightened mechanism. In this paper, dynamics model of this robot established by Lagrange method is represented.