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

<table>Mooney-Rivling 5 parameter constitutive equation used within the ANSYS 10 shows very close prediction of the rubber sample behavior. It means that Mooney-Rivling 5 parameter can be safely used for the Finite element analysis.</table>

Journal of Robotics

fig19

Figure 19

Figure 19: Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish 