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

<table>The three servomotors are attached with superglue (Cyanoacrylate glue) to themselves. Superglue was also used for the main bond between them and the wooden tail base with Araldite glue (Epoxy) acting as bulk support (being more voluminous).</table>

Journal of Robotics

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Figure 14

Figure 14: Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish 