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In this paper, we describe the development of a hyper-constrained serial robot-assembly, which will lead do a snake-like kinematic. The goal of this robot is to serve as an experimental platform for a medical catheter for human surgery. We have two kinds of platform kinematics, namely the microscopic one, which depends of a three-actuator-solution, which gives us a 3-DOF1 moveability of the microscopic...
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