Abdulshaheed, Areej G. and Hussein, Mohamed and Mat Dzahir, Mohd. Azuwan and Mad Saad, Shaharil (2022) Modeling and analyzing of traveling wave gait of modular snake robot. In: Recent Trends in Mechatronics Towards Industry 4.0 Selected Articles from iM3F 2020, Malaysia. Lecture Notes in Electrical Engineering, 730 (NA). Springer Science and Business Media Deutschland GmbH, Singapore, 141 - 152. ISBN 978-981334596-6
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Official URL: http://dx.doi.org/10.1007/978-981-33-4597-3_14
Abstract
Traveling wave locomotion of snake robot considers one of the efficient locomotion that can be used in narrow spaces and unstructured environment. Few works have been done on studying and analyzing this gait. In this paper, we present the kinematic and dynamic analysis of traveling wave locomotion using the Lagrange Euler equation. The effects of a dynamic model and an elaborate model of the friction between the robot and the supporting plane are presented, were, the supporting and friction forces can be calculated by solving the equilibrium equation. The dynamic model, forward and turning motion of the traveling wave gait are verified using simulation. It was shown from the simulation investigation that joint torque was observed to be high near the robot’s center of mass. It is also noticed that the joint torque increases with the increase of the friction coefficient and reduces with the increase of the initial winding angle.
| Item Type: | Book Section |
|---|---|
| Uncontrolled Keywords: | dynamic, serpenoid curve, snake robot, stability, traveling wave |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Mechanical Engineering |
| ID Code: | 100524 |
| Deposited By: | Yanti Mohd Shah |
| Deposited On: | 14 Apr 2023 02:46 |
| Last Modified: | 14 Apr 2023 02:46 |
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