Building fully flexible tail (several joints) with minimal actuation required

[jdiwnab]

Originally Posted by Al Skierkiewicz

Bryan,
Not really. The wires were attached at each joint with a pulley system so that there was no need for wires "out in the air". When you pull back on the wire which is attached to the tip, it pulls on the tip until the joint runs out of mechanical play (hits a premade mechanical stop.) Then the next joint flexes until the same thing happens. You don't get the exact motion of a true muscle structure since you are only really using one "muscle" but the approximation is pretty good. Similar mechanics were used in the original "Jaws" but had fewer joints and needs far more power.

I would think that attaching it to every joint would limit the movement and the amount of curve becuase you would start fighting youself, especially if you what it to curve back like in sanddrag's picture. But I might have a serious misunderstanding of what I'm talking about. It makes sence in my own head.