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Geometric Dimensions of the IREP Snake Arms
| Snake geometric dimension (mm) | |||||
|---|---|---|---|---|---|
| Distal Seg length | Proximal Seg length | Gripper length | Disk outer diameter | Disk height | |
| 35 | 25 | 15 | 6.4 | 3.2 | |
| Ranges of parallelogram joints and snake configuration variables | |||||
| q1 [mm] | q2 [mm] | θ1,2 [deg] | δ1,2 [deg] | q7 [deg] | |
| 0~80 | 0~30 | ±90° | ±180° | ±90° | |
