Motion Control and Optimal Design of a Biomimetic Manipulator Based on Snake Coiling and Stretching

The traditionally articulated manipulator had a single control method, and the limited motion trajectory space was unsuitable for working in an unstructured environment. This paper introduces a control method and optimization for a multijoint manipulator Inspired by snakes' curling and stretching motions. First, we analyze the manipulator’s connection mode and motion planning and propose a new motion method. In addition, we calculated the relevant positions and angles and subdivided the motion of some joints based on the principle of the meta-heuristic algorithm. Ultimately, the manipulator in this mode has a larger workspace and more flexible motion trajectories. The experimental results are consistent with the theoretical analysis, which further proves the feasibility and scalability of the scheme.