Abstract
The snake-like robot is composed of nine joints and the robot is proposed in this study. The serpentine locomotion mechanism of snake-like robot is studied and its moving model is established in the multi body system dynamics simulation the Software Recurdyn. The joint angle functions of serpentine locomotion are set up. We add some restrictions for model in Recurdyn and set moving functions. The simulation introduced the input of the joint angle function's influence on the winding movement of the snake-like robot. The simulation results show that the snake-like robot can complete the serpentine locomotion set before.
Highlights
The relationship of the forward speed and amplitude is shown in Fig. 7a, which can be seen from the graph, with the increase of amplitude, the forward speed of serpentine robot has obvious increasing, snake robot modular joint Angle function amplitude by joint, the design of the maximum Angle limit, the biggest optimal magnitude is 0.7 rad
0 0.5 0.75 1 1.25 1.5 1.75 2 wave number (c) Graph showing the relationship of the forward speed and wave number Fig. 7: Simulation analysis frequency increasing, the speed of the advance has been increased, a snake robot modular joint Angle function by the frequency of the selected motor restrictions
The relationship of the forward speed and wave number is shown in Fig. 7c, which can be seen from the graph, with a snake robot body formation wave number increasing, the forward speed snakelike robot is more and more small, but the number of wave is too little words, which will influence the orientation of the snake-like robot, it can't form a complete Serpenoid curve
Summary
The snake-like robot redundancy is extremely high, with many degrees of freedom movement ability, make it imitate a variety of the biological snake movement patterns in movement, the snake-like robot has a good stability and a strong ability to adapt to the terrain in the process of marching and the snake-like robot has a wide foreground of application in many fields. At present the developed snake-like robot has a variety of structures (Hirose, 1993; Ma and Tadokoro, 2006; Li et al, 2004), achieve a variety of sports models (Sun et al, 2008; Wang, 2004; Ye et al, 2009; Wu and Ma, 2010), the winding sports as biological snake is the most typical movement, which is a snakelike robot motion mode is the key issue of study. The study developed nine snake-like robot joints is the research object, the snake-like robot winding motion mechanism is studied, the multi body system dynamics is simulated by the software Recurdyn and a snake-like robot motion model is simulated, the simulation results are analyzed and illustrated
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