Dynamic analysis of 3-dimensional snake robots
Dynamic analysis of 3-dimensional snake robots
复制标题
DOI：
10.1109/iros.2004.1389445
复制
发表时间：
2004-09
期刊：
影响因子：
--
通讯作者：
Shugen Ma;Y. Ohmameuda;K. Inoue
中科院分区：
文献类型：
--
作者：
Shugen Ma;Y. Ohmameuda;K. Inoue
仿蛇机器人模仿生物蛇的特性，使其具有极强的环境适应性成为可能。本文首先建立了三维蛇形机器人的运动学和动力学方程，然后以正弦提升爬行运动为例进行了分析。在本研究中，为了简化，正弦提升运动被成像为二维平面内的爬行运动，具有不同的法向反力分布。比较了具有均匀法向反作用力的爬行运动和法向反作用力由重量相对于身体曲率分布的正弦提升爬行运动。结果表明，蛇形机器人在曲率加权法向反力正弦提升爬行运动模式下的运动速度比在法向反力均匀的爬行运动模式下的运动速度快.
Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly formulate the kinematics and the dynamics of 3-dimensional snake robots and then analyze the sinus-lifting creeping motion as an example. In this study, the sinus-lifting motion was imaged as the creeping motion in 2-dimensional plane with different distribution of normal reaction forces for simplicity. Comparison has been made between the creeping locomotion with uniform normal reaction forces, and the sinus-lifting creeping motion where the normal reaction forces are distributed by the weight with respect to the body curvature. As a result, we know that the snake-like robot in the sinus-lifting creeping motion mode with curvature-weighted normal reaction forces moves at higher speed than that in the creeping motion mode with uniform normal reaction forces.