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Related Experiment Video

Updated: Jun 3, 2025

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

Elephant-inspired tapered cable-driven hyper-redundant manipulator: design and performance analysis.

Zhuo Chen¹, Hua Zhang¹, Xinbin Zhang²

¹School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, People's Republic of China.

Bioinspiration & Biomimetics

|January 10, 2025

Summary

This study introduces a novel conical cable-driven hyper-redundant manipulator (CDHM) inspired by elephant trunks. The conical design enhances performance, offering advantages in cable stroke, joint speed, and driving force for complex environments.

Keywords:

bionics design cable-driven hyper-redundant manipulator conical manipulator special environment application.

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Area of Science:

Robotics
Mechanical Engineering

Background:

Cable-driven hyper-redundant manipulators (CDHM) offer high flexibility and adjustable stiffness.
CDHMs are crucial for operations in confined and obstacle-rich environments like aerospace and nuclear facilities.

Purpose of the Study:

To introduce a novel CDHM with a conical arm structure inspired by elephant trunks.
To analyze the kinematic and dynamic performance impacts of the manipulator's taper.
To validate the conical structure's advantages through experimental testing.

Main Methods:

Developed a novel CDHM with a conical arm structure, contrasting with traditional cylindrical designs.
Conducted dynamic and kinematic analyses to evaluate the effect of the taper.
Fabricated three prototype manipulators with varying tapers for experimental validation.

Main Results:

The conical structure significantly reduces self-weight and gravity's moment arm.
Experimental tests confirmed the theoretical analysis and the rationality of the conical design.
The new configuration demonstrated improvements in cable stroke, joint speed, and maximum driving force.

Conclusions:

The elephant trunk-inspired conical CDHM offers significant performance advantages over cylindrical designs.
The conical structure is a viable and effective design for enhancing CDHM capabilities.
This novel configuration is well-suited for applications requiring high dexterity in challenging environments.