SUMMARY In this work a novel spatial hyper-redundant manipulator inspired in the motions of the worms is introduced. The displacement analysis is presented in a semi-closed form solution, whereas the velocity and acceleration analyses are carried out by means of the theory of screws. Among typical applications of most hyper-redundant manipulators, interesting biomechanical applications such as the simulation of the motion of the spine are available for this newartificial worm.
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Gallardo-Alvarado et al. (2010) studied this question.
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