Design and Kinematics Analysis for a Cable-driven Underwater Snake Arm Robot

Abstract

Abstract Aiming at the problem that underwater manipulators are mostly rigid structures and cannot meet the requirements of flexible operations, this paper designs and studies a cable-driven underwater snake arm robot. The snake arm is composed of multiple rigid links connected in series, and the joint rotation is realized by controlling the change of the length of the driving cable, which can effectively solve the problem that the traditional underwater manipulator has poor flexibility and cannot work in a narrow space. In this paper, the 3-D model of the cable-driven underwater snake arm is carried out, the mapping relations among driving space, joint space and operation space are analyzed.