Traveling Wave Locomotion of Snake Robot along Symmetrical and Unsymmetrical body shapes
Traveling Wave Locomotion of Snake Robot along Symmetrical and Unsymmetrical body shapes
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发表时间：
2010-06
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通讯作者：
Hadi Kalani;A. Tootoonchi;J. Safehian
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作者：
Hadi Kalani;A. Tootoonchi;J. Safehian
本文研究了两种不同形状的蛇形机器人行波运动的运动学和动力学。身体形状，也称为身体曲线，是机器人在前进过程中可以呈现的平面中的实际几何形状。然后蛇就可以沿着这条曲线移动。两种类型的身体曲线，对称和不对称，已经介绍了爬行运动，在水平面。并对具有对称体曲线的行波进行了运动学和动力学研究。应用这些概念，得到了非对称形体在垂直平面内行波的运动学和动力学。在运动学部分，我们首先利用身体形状和曲率函数来确定关节的相对角度。其次，计算各连杆的位置、速度和加速度以及蛇身的重心。在动力学部分，显示了i（exp th）连杆的受力图。使用牛顿原理，确定第i（exp th）个连杆相对于第（i+1）（exp th）个连杆的相对运动。其次，研究了摩擦系数、初始缠绕角和不对称系数对关节力矩的影响。结果表明，随着缠绕角的增加，关节力矩减小。此外，它表明，不对称的因素，k，不显着影响扭矩。最后，为了验证我们的分析，在Webots和MATLAB中模拟行波运动。结果表明，行波运动的对称和不对称的身体形状都实现了。
In this paper, kinematics and dynamics of traveling wave locomotion of a snake robot with two types of body shapes are developed. The body shape, also called body curve, is the actual geometrical shape in the plane in which the robot can assume during its progression. The snake can then travel along this curve. Two types of body curves, symmetrical and unsymmetrical, have been introduced for creeping locomotion, in horizontal plane. Kinematics and dynamic of traveling wave with symmetrical body curve has also been developed. These concepts are applied and kinematics and dynamics for traveling wave in vertical plane with unsymmetrical body shapes are obtained. In kinematics section, we first determine the joint relative angles using the body shape and curvature function. Next, position, velocity and acceleration of each link as well as center of gravity of the snake body are calculated. In Dynamic's section, force diagram of the i(exp th) link is shown. Using Newton principle, relative motion of the i(exp th) link with respect to the (i+1)(exp th) link is determined. Next, effects of friction coefficient, initial winding angle and the unsymmetrical factor on the joint torques are investigated. Results indicate that as the winding angle increases, joint torques decreases. Additionally, it is shown that the unsymmetrical factor, k, does not significantly affect torques. Finally, to validate our analysis, traveling wave locomotion is simulated in both Webots as well as MATLAB. It is shown that the traveling wave locomotion for both symmetrical and unsymmetrical body shapes is realized.