Mechanical Snake Arm

Preparation for Industrial Careers in Mathematics

Motivation
There are many tasks which are unfeasible for humans to do because
of safety, monotony, or necessary precision.

Consequently, arm-like machines are very important.

Our particular decision is useful because it is mechanical after its
initial input (moving of two guide elements). So, only one aspect
needs power.

Linearizing the Problem

L = 4in
d = 1in
r = 3/16in

2
2 2

+ 2 arctan
tan =

=
=

96
247

 = + cos + sin =
= + cos sin =
=

2 + 2 .737154in

192
in
265
36
in
265

4
= 4 = 0

= 1 3 + 2 2 + 3 + 4
0 = 0, 0 = 0, = ,

4 = 0, 3 = 0, 2 =
=
=

60686
, 1
252928

= tan
210675
8093696

1 + 2 = .737146in

2 + 2 .737154in

 The problem can now be approached geometrically

8
=1 + 8 =
8
=1 + 8 =

 The geometric approach is not enough. A physical one is needed as

well.
However, the constraints are symmetric, geometrically and physically,
between all angles. Hence, the solution is the case where all angles
are equal.
=

265
128

265
128

247
cos
128

3
sin
4

247
3

cos sin =
128
4
32 2 32 2
= arcsin
192

4
4

2
2