Snake Robot Movement in the Pipe Using Concertina Locomotion
Snake Robot Movement in the Pipe Using Concertina Locomotion
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DOI：
10.4028/www.scientific.net/amm.611.121
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发表时间：
2014-08
期刊：
影响因子：
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通讯作者：
Ivan Virgala;M. Dovica;M. Kelemen;E. Prada;Z. Bobovský
中科院分区：
文献类型：
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作者：
Ivan Virgala;M. Dovica;M. Kelemen;E. Prada;Z. Bobovský
管道或渠道的检测任务是工程实践的一部分。在过去，人们研究传统的方法，如基于轮子的机械装置。本文研究的是一种非常规的方法--蛇形机器人在管道中移动。介绍了圆锥的运动规律，建立了圆锥运动的运动学模型。阐述了现有运动方式的主要要求和条件。为了验证运动学模型，利用MatLab软件对所设计的运动学模型进行了仿真。实验中使用了实验用的蛇形机器人--LocoSnake。将仿真结果与实验结果进行了比较和评价。
Inspection tasks of pipes or channels are part of the engineering practice. In the past there were investigated conventional approaches like wheeled-based mechanisms. This paper deals with unconventional approach - snake robot moving in the pipe. In the paper locomotion pattern of concertina is introduced and subsequently kinematic model of concertina locomotion is established. Main requirements and conditions of presented locomotion pattern are stated. Using software Matlab the kinematic model is simulated according designed locomotion pattern in order to verify the kinematic model. For experimental purposes the experimental snake robot – LocoSnake is used. Simulation and experiment are compared and evaluated.