期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2019
卷号：97
期号：19
页码：5036-5047
出版社：Journal of Theoretical and Applied
摘要：Dramatic growth in the robotics industry demands robots with exceptional working capabilities such as working in a confined environment and with safety features. Likewise, high requirement needs to meet robots of the new generation. In such a case, bio-inspired continuum robots could be a good alternative solution for such needs. This research paper proposes a continuum robot arm inspired by an elephant trunk. The novelty of this research is proposed variable backbone hardness provided by coil compression springs, such as elephant trunk muscles. Thus, the proposed robot design allows working in a highly constrained environment, such as the agriculture sector or in the rescue operations, where the working environment is unstructured and severe which requires exceptional features from the robot. This research paper will cover the following topics; backbone design concept, geometry modelling, forward kinematic solution and the robot application as well.
