A snake robot propelling inside of a pipe with helical rolling motion
A snake robot propelling inside of a pipe with helical rolling motion
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发表时间：
2010-10
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通讯作者：
Toshimichi Baba;Yoshihide Kameyama;T. Kamegawa;A. Gofuku
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作者：
Toshimichi Baba;Yoshihide Kameyama;T. Kamegawa;A. Gofuku
近年来，蛇形机器人已经实现了蛇的多种运动步态。蛇形机器人将被应用于进入狭窄的空间，调查细长管道的内部，并利用其苗条的身体执行一些简单的工作。在本文中，我们实现了一种新的运动模式，推动蛇机器人的内部管道螺旋滚动运动，除了以前实现的运动模式。通过串联连接多个单元来构造蛇形机器人的结构。该装置有一个俯仰轴，偏航轴和两个被动轮。通过使用数学连续曲线模型计算机器人的形状。此外，本文还提出了一种根据管道直径自动调整蛇形机器人形状的方法。此外，我们指出了一种新的运动模式，进行螺旋滚动运动与圆锥螺旋的形式，以提高摄像机的位置，而蛇机器人调查管道内部的可能性。
Recently, multiple locomotion gaits of snakes have been realized by snake robots. A snake robot would be applied to going into a narrow space to investigate the inside of a long and slim pipe and to executing some simple work by using its slim body. In this paper, we achieve a new locomotion mode that propels a snake robot the inside of a pipe with helical rolling motion, in addition to previously achieved locomotion modes. A structure of the snake robot is constructed by connecting many units in series. The unit has a pitch axis, a yaw axis and two passive wheels. A shape of the robot is calculated by using mathematical continuum curve model. In addition, we present a method that the shape of snake robot is adjusted to a diameter of a pipe automatically. Moreover, we indicate a possibility of a new locomotion mode which conduct helical rolling motion with conical spiral form in order to improve a position of a camera while the snake robot investigates the inside of a pipe.