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In this paper, the kinematics modeling of a notched continuum manipulator is presented, which includes the mechanics-based forward kinematics and the curve-fitting-based inverse kinematics. In order to establish the forward kinematics model by using D-H procedure, the compliant continuum manipulator featuring the hyper-redundant degrees of freedom (DoFs) is simplified into finite discrete joints....
A tracked robot is designed for mine research and rescue. The robot is introduced from mechanism, hardware system to software system. As an outdoor all-terrain research and rescue robot, it should have some special designs, such as reconfigurable structure, suspension system and anti-explosive and waterproof. Two pairs of swing arms are equipped in the front and the rear of the robot. Their motions...
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