Abstract
This paper presents plate springed parallel elastic actuators (PEAs) for snake robots. In our previous study, compression springs are mounted on both lateral sides of the PEA-based snake robot to reduce the energy consumption. However, it grows in size and the spring might touch the outdoor environments, which disturbs the movement of the snake robot. To solve this problem, the tension spring was replaced by a plate spring. In the present paper, after analyzing the shape and force of the plate spring under the constraint of the robot joint and applying them to the dynamics, we found the optimal stiffness combination in each moving speed. Finally, the energy consumption was evaluated by the measured motor current in experiments.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
