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A snake-arm robot is a slender hyper-redundant manipulator. The high number of degrees of freedom allows the arm to “snake” along a path or around an obstacle – hence the name “snake-arm”. == Definition == Snake-arm robots are also described as continuum robots and elephant’s trunk robots although these descriptions are restrictive in their definitions and cannot be applied to all snake-arm robots. * A continuum robot is a continuously curving manipulator, much like the arm of an octopus. * An elephant’s trunk robot is a good descriptor of a continuum robot. This has generally been associated with whole arm manipulation – where the entire arm is used to grasp and manipulate objects, in the same way that an elephant would pick up a ball. This is an emerging field and as such there is no agreement on the best term for this class of robot. Snake-arm robots are often used in association with another device. The function of the other device is to *introduce the snake-arm into the confined space. Examples of possible introduction axes include mounting a snake-arm on a remote controlled vehicle or an industrial robot or designing a bespoke a linear actuator. In this case the shape of the arm is coordinated with the linear movement of the introduction axis enabling the arm to follow a path into confined spaces. Other features which are usually (but not always) associated with snake-arm robots: * Continuous diameter along the length of the arm * Self-supporting * Either tendon-driven or pneumatically controlled in most cases. A snake-arm robot is not to be confused with a snakebot which mimics the biomorphic motion of a snake in order to slither along the ground. 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「Snake-arm robot」の詳細全文を読む スポンサード リンク
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