Referenced Items are not available for this document.
In this paper a new kind of robotic mechanism is proposed to be used for inspection tasks in complex setups of industrial plants. The shape and motion capabilities of biological snakes are adopted as generic design guidelines. We propose a multi-articulated mobile robot, with a body consisting of repeating modules, capable for both moving efficiently and reaching points inside complicated or unstructured areas, where human personnel cannot reach or work properly. An analysis of the basic design along with most of the component specifications is presented. Finally, we present its forward kinematics, as a first step towards controlling it
Published in:
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
(Volume:4
)
Date of Conference: 20-25 Apr 1997
- Page(s):
- 3493 - 3498 vol.4
- Meeting Date :
- 20 Apr 1997-25 Apr 1997
- Print ISBN:
- 0-7803-3612-7
- INSPEC Accession Number:
- 5691351
- Conference Location :
- Albuquerque, NM
- Digital Object Identifier :
- 10.1109/ROBOT.1997.606876
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