Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads.

Long Huang, Bei Liu, Leiyu Zhang, Lairong Yin

Abstract read

In one paragraph

Article in Micromachines, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it

0cells of the map it votes in

1citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

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Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

Snake-Like Robot Workspace Solving Method Based on Improved Monte Carlo Method.Applied bionics and biomechanics · 2025
Article

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

4 authors.

Long HuangSchool of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China.

Bei LiuSchool of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China.

Leiyu ZhangCollege of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China.

Lairong YinSchool of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China.

Funding

National Natural Science Foundation of China 51805047National Natural Science Foundation of China 52175003Natural Science Foundation of Hunan Province 2021JJ40259Outstanding Youth Program of Hunan Education Department 20B307 and 20B017

6 · The paper itself

Abstract

Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF). Furthermore, the kinematics of the cable-driven snake-arm robot are established, and the mapping between actuator space and joint space is simplified by bending decoupling motion in the multiple segments. The workspace and bending configurations of the robot are obtained. The static model is established by the principle of minimum potential energy. Furthermore, the simplified cable constraints in the static model are proposed through Taylor expansion, which facilitates the equilibrium conformation analysis of the robot under different external forces. The cable-driven snake-arm robot prototype is developed to verify the feasibility of the robot design and the availability of the static model through the experiments of the free bending motion and the external load on the robot.

Indexed as

anti-parallelogram mechanismcable-driven snake-arm robotkinematicsstatic modelworkspace

Identifiers

PMID35888966

DOI10.3390/mi13071149

PMCPMC9319917

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.