Analytical modeling of a 3-D snake robot based on sidewinding locomotion

Analytical modeling of a 3-D snake robot based on sidewinding locomotion In this paper, we restrict our attention to sidewinding locomotion and present detailed kinematics and dynamics of a 3-D multi-link snake robot. To obtain kinematics of three-dimensional snake-like robot modeling, first, a virtual structure with an additional six degrees of freedom is attached to the tail of the robot. Denavit–Hartenberg method is next employed to derive the kinematics relationships. A spring and damper model is used to realistically model contacts between ground and the robot. Gibbs–Appell’s method is next utilized to obtain the 3-D robot dynamics. To validate the dynamics equations, SimMechanic software is used. Finally, a 3-D snake robot, referred to as FUM-Snake 5, is constructed and utilized to experimentally show the sidewinding locomotion. The theoretical derived equation in this study can also be used to generate both other 2-D and 3-D snake robot locomotions. Keywords Dynamic analysis · Gibbs–Appell · 3-D snake-like robot · Friction and ground model 1 Introduction robot. In their work, they used Lagrange’s method to obtain dynamic equation. Kalani and Akbarzadeh [3] restricted Snake robots offer potential in assisting in areas such as fire- their attention to worm-like, vertical traveling wave loco- fighting, rescue missions and maintenance due to their high motion and http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Dynamics and Control Springer Journals

Analytical modeling of a 3-D snake robot based on sidewinding locomotion

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Publisher
Springer Journals
Copyright
Copyright © 2018 by Springer-Verlag GmbH Germany, part of Springer Nature
Subject
Engineering; Vibration, Dynamical Systems, Control; Control; Complexity
ISSN
2195-268X
eISSN
2195-2698
D.O.I.
10.1007/s40435-018-0441-z
Publisher site
See Article on Publisher Site

Abstract

In this paper, we restrict our attention to sidewinding locomotion and present detailed kinematics and dynamics of a 3-D multi-link snake robot. To obtain kinematics of three-dimensional snake-like robot modeling, first, a virtual structure with an additional six degrees of freedom is attached to the tail of the robot. Denavit–Hartenberg method is next employed to derive the kinematics relationships. A spring and damper model is used to realistically model contacts between ground and the robot. Gibbs–Appell’s method is next utilized to obtain the 3-D robot dynamics. To validate the dynamics equations, SimMechanic software is used. Finally, a 3-D snake robot, referred to as FUM-Snake 5, is constructed and utilized to experimentally show the sidewinding locomotion. The theoretical derived equation in this study can also be used to generate both other 2-D and 3-D snake robot locomotions. Keywords Dynamic analysis · Gibbs–Appell · 3-D snake-like robot · Friction and ground model 1 Introduction robot. In their work, they used Lagrange’s method to obtain dynamic equation. Kalani and Akbarzadeh [3] restricted Snake robots offer potential in assisting in areas such as fire- their attention to worm-like, vertical traveling wave loco- fighting, rescue missions and maintenance due to their high motion and

Journal

International Journal of Dynamics and ControlSpringer Journals

Published: May 30, 2018

References

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