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This design significantly reduces the complexity of the control system while increasing the spatial curvature. The traction of multiple wire ropes with a composite capstan drives the synchronous angular motion of several adjacent joints. By changing the number of joints in the single driver layer of the snake arm, the arm can be adapted to various complex environments. The trajectory planning and trajectory tracking motion control methods of the under-actuated SAM are established based on the improved backbone method and the variable rod length algorithm. Finally, a 10-joint prototype with an arm length of 2300 mm is designed for nuclear reactor maintenance. Trajectory experiments confirmed the rationality of the under-actuated SAM, the correctness of the inverse kinematics, and the effectiveness of the motion control methods.<\/jats:p>","DOI":"10.1017\/s026357472100134x","type":"journal-article","created":{"date-parts":[[2021,9,29]],"date-time":"2021-09-29T03:12:21Z","timestamp":1632885141000},"page":"1763-1782","source":"Crossref","is-referenced-by-count":11,"title":["Design and motion control of an under-actuated snake arm maintainer"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5497-3623","authenticated-orcid":false,"given":"Guodong","family":"Qin","sequence":"first","affiliation":[]},{"given":"Aihong","family":"Ji","sequence":"additional","affiliation":[]},{"given":"Yong","family":"Cheng","sequence":"additional","affiliation":[]},{"given":"Wenlong","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Hongtao","family":"Pan","sequence":"additional","affiliation":[]},{"given":"Shanshuang","family":"Shi","sequence":"additional","affiliation":[]},{"given":"Yuntao","family":"Song","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,9,29]]},"reference":[{"key":"S026357472100134X_ref31","unstructured":"[31] William, M. and Walker, I. 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W. , \u201cHyper-Redundant Robot Mechanisms and their Applications,\u201d In:Intelligent Robots and Systems\u2019 91. \u2019Intelligence for Mechanical Systems, Proceedings IROS\u201991. IEEE\/RSJ International Workshop on, IEEE (1991) pp. 185\u2013190."},{"key":"S026357472100134X_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2010.08.001"},{"key":"S026357472100134X_ref5","article-title":"Using voice coils to actuate modular soft robots: Wormbot, an example","volume":"3","author":"Nemitz","year":"2016","journal-title":"Soft Rob."},{"key":"S026357472100134X_ref4","article-title":"S. Cobos-Guzman and D Axinte, \u201cReal-time method for tip following navigation of continuum snake arm robots,\u201d Robot. 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