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Conception and dynamic modeling of an assisted passive snake-like robot using Gibbs-Appell method

Vossoughi, G ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. DOI: 10.1115/detc2005-85008
  3. Publisher: American Society of Mechanical Engineers , 2005
  4. Abstract:
  5. In this paper we present a novel planar structure of a snake-like robot. This structure enables passive locomotion in snake-like robots through an auxiliary link in joint and a torsional spring. Dynamic equations are derived, using Gibbs-Appell method. Kinematic model of the robot include numerous non-holonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs-Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in significant reduction of simulation time. Simulation results show that, by proper selecting initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve. Copyright © 2005 by ASME
  6. Keywords:
  7. Computer simulation ; Kinematics ; Robotics ; Dynamic modeling ; Gibbs-Appell method ; Serpenoid curve ; Snake-like robot ; Mobile robots
  8. Source: DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, 24 September 2005 through 28 September 2005 ; Volume 7 B , 2005 , Pages 863-870 ; 0791847446 (ISBN); 9780791847442 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2005/47446/863/314904