On Systems Of Circular Wedges For Serpentine Robots Applications

Abstract

Previous work showed that duplicate circular wedges might be used to achieve
repeatable, accurate, precise and versatile alignment of mechanical components. This paper
further explores the versatility and application of circular wedges in robotics. Of particular
interest are dissimilar circular wedges, i.e., circular wedges that differ in wedge angle, in the
number of circumferential divisions, and in offset angle. Several applications are highlighted:
the use of circular wedges as the basis for a new robotic joint; the utilization of circular
wedges in implementing a robotic end-effector; and, the configuration of a serpentine robot
from circular wedges.