摘要The traditionally articulated manipulator had a single control method,and the limited motion trajectory space was unsuit-able for working in an unstructured environment.This paper introduces a control method and optimization for a multijoint manipulator Inspired by snakes'curling and stretching motions.First,we analyze the manipulator's connection mode and motion planning and propose a new motion method.In addition,we calculated the relevant positions and angles and sub-divided the motion of some joints based on the principle of the meta-heuristic algorithm.Ultimately,the manipulator in this mode has a larger workspace and more flexible motion trajectories.The experimental results are consistent with the theoretical analysis,which further proves the feasibility and scalability of the scheme.