High-accuracy snake arm with large load and long-distance radiation resistance

A high-accuracy snake arm with large load and long-distance radiation resistance, comprising a driving base body and a snake shaped arm, wherein one end of the snake shaped arm is connected to the driving base body, and the snake shaped arm is composed of parallelly-connected joints connected in series, which are respectively referred to as a first joint, a second joint, . . . , and an Nth joint according to their distance from the driving base body, wherein N is an integer greater than or equal to 1;

• each parallelly-connected joint comprises m identical movable linkages connected in parallel, and m is an integer greater than or equal to 3;
• each of the parallelly-connected joints further comprises platforms respectively connected to each end of the m identical movable linkages connected in parallel;
• where one of the platforms at one end of the m identical movable linkages connected in parallel is fixed relative to another platform, the other platform performs translation motion along a circle relative to the fixed platform, two adjacent platforms remain to be parallel with each other;
• and the driving base body have a plurality of driving units installed therein, each driving unit is respectively connected to a respective link in the parallelly-connected joint via a steel wire rope, and each steel wire rope is connected to a respective link.