Structural Synthesis of Nested Hyper-redundant Mechanisms Inspired by the Mackerel Fishes

The tradition structure of hyper-redundant mechanisms is that every module connected to each other in series sequence. But the nested hyper-redundant mechanisms inspired by the mackerel fishes do not follow this principle. The modules of the nested system vary from each other. Thus, a structural synthesis of this complex system is needed to identify non-isomorphic mechanisms. Using the code-based approach, this article comes up with a simplified characteristic code for different kind of nested hyper-redundant mechanisms.