Kinematic Analysis of the vertebra of an eel like robot

TL;DR

This paper analyzes the kinematic properties of a spherical wrist with parallel architecture, essential for controlling an eel-like robot designed to mimic eel swimming, focusing on workspace evaluation without collisions.

Contribution

It provides a detailed kinematic analysis and workspace evaluation method for a spherical wrist in an eel-like robot, aiding in its design and control.

Findings

Workspace represented using tilt and torsion parameters.

Evaluation of collision-free workspace for the robot.

Foundation for control law implementation in eel-like robots.

Abstract

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To implement direct and inverse kinematics on the control law of the prototype, we need to evaluate the workspace without any collisions between the different bodies. The tilt and torsion parameters are used to represent the workspace.