Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish

Figure 12

The assembled tail (joint) showing the polythene pipe through which the cables are treaded. The ends of the pipes are glued to the quarter pulley. The plywoods (1/8 in/3.175 mm) are glued to the rubber stripes to form the tail joints. The cables are connected to the next wooden support.