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《Journal of Shanghai Jiaotong University》 2001-01
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System and Structure of a Snake-Like Manipulator

MA Pei sun 1, WANG Jian bin 1, ZHU Hai hong 2, WU Hai ping 1 (1. School of Mechanical Eng., Shanghai Jiaotong Univ., Shanghai 200030, China; 2. Nanyang Technological Univ., Singapore)  
This paper put forward the structure and control of a snake like manipulator, emphatically introducing the structure and principle of transmission joint mechanism and drive switching mechanism of the manipulator, also describing the manipulator's control system. Compared with the foreign similar manipulator, it has the merits of small curve radius, fewer motors, and small volume etc.
【Fund】: 上海市科技发展基金资助项目 !(985 5 110 5 7)
【CateGory Index】: TP24
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