In this paper, a novel continuum robot for search and rescue is presented. A detailed formulation of fundamentally new kinematic model is then introduced. Kinematic analysis adopt product of exponentials formula, compare with conventional D-H method, this method is concise and simplicity. Finally, the forward kinematic simulation is completed by Matlab software.
This paper presents a hybrid variable structure robot design thinking based on the legs of the semi-rotating mechanism. This robot combines the advantages of wheeled robots and legged robots, and combined with the narrowing of the body can be widened, so that it can better adapt to the complex environment with strong climbing obstacle capability and sexually.
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