无轮蛇形机器人的建模与仿真

2020 7th International Conference on Electrical and Electronics Engineering (ICEEE) Pub Date : 2020-04-01 DOI:10.1109/ICEEE49618.2020.9102599

Y. A. Baysal, I. Altas

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引用次数: 3

摘要

本文在Matlab/Simulink中对具有更强环境适应能力的无轮蛇形机器人进行了运动学和动力学建模，分析了蛇形机器人的身体与地面之间的摩擦对蛇形机器人横向波动等运动的影响。此外，本文还研究了蛇形机器人的连杆数与其前进速度之间的关系。仿真结果验证了在摩擦力各向异性足够大的环境中，蛇形机器人可以更快地移动。结果还表明，蛇形机器人的前进速度与其连杆数成正比。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modelling and Simulation of a Wheel-Less Snake Robot

In this paper, kinematic and dynamic modelling of a wheel-less snake robot that has more potential for adapting to the environment is implemented in Matlab/Simulink and effect of friction between its body with the ground, which plays a highly important role in some snake locomotion such as lateral undulation on motion is analyzed. Moreover, the relationship between number of links of the snake robot and its forward velocity is investigated in this study. The simulation results validate that snake robot can move faster in environments where the anisotropy in friction is large enough. The results also show that the forward velocity of the snake robot is directly proportional to its number of links.

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2020 7th International Conference on Electrical and Electronics Engineering (ICEEE)

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