欠驱动水蛭机器人动力学

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI:10.1109/ICMERR56497.2022.10097811

Ravi Chandra Murthy Sampathirao, Shubham Bhise, P. Gandhi

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引用次数: 0

摘要

仿生学给许多类型的机器人的发展带来了巨大的灵感，因为大自然在她的系统中建立了一些优势。本文介绍了一种利用超柔顺元件的新型水蛭机器人。该机器人使用超柔性梁连接两端的两个轮毂，并控制梁相对于轮毂的角度。电磁保持是用来确保轮毂的表面和另一个致动器转动轮毂相对于地面。采用假设模态法对梁在平面运动中的动态变形进行了建模，提出了考虑梁长度约束的扩展Hamilton公式。采用启发式控制设计对机器人运动步态进行了仿真，并给出了相应的实验结果。

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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Dynamics of Under-Actuated Leech-Inspired Robot

Biomimicking has been a great inspiration for the development of many types of robots because of several advantages nature has built into her systems. This paper introduces a new Leech-inspired robot that makes use of the ultra-compliant element. The robot uses an ultra-flexible beam connected to two hubs at the end where the beam angle with respect to the hub is controlled. An electro-magnetic hold is used to secure the hub to the surface and another actuator to turn the hub with respect to the ground. We use the assumed modes method for modeling the dynamic deformation of the beam in planar motion and develop Extended Hamilton formulation considering length constraint on the beam. Gaits of robot motion are simulated with a heuristic design of control and corresponding experimental results are presented.

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2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)

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