Abstract
Researchers borrow ideas from biological characteristics and behavior in design to make bionic robots that can meet unstructured and complex operating environments. The elephant trunk has been widely imitated by bionic robots because of its strong dexterity and stiffness adjustability. Due to the complex structure of the current elephant trunk robot, a series-parallel elephant trunk robot based on flexible rod actuation and a 6-degree-of-freedom (6-dof) parallel module is proposed in this paper. The bionic robot has a simple structure and redundant kinematics, which can realize the control of stiffness. This work focuses on the modeling of the flexible driving rod, the kinematics of a single parallel module, and the whole biomimetic robot. The kinematics are verified by simulation, which lays a foundation for future research on stiffness regulation.