Dynamic Modeling and Analysis of Multibody Systems for Snake-like Robot
Aiming at the dynamic analysis of multibody system for snake-like robot,a three-dimensional simulation model is established,and the influence of the damping coefficient,the friction coefficient ratio and the joint angle amplitude on the dynamic characteristics of the robot are discussed.The serpentine curve is used to realize the basic gait of the snake-like robot,such as serpentine locomotion,rolling locomotion and inchworm locomotion,and the dynamic mechanics analysis of the corresponding gait is completed.In particular,the step function is used to realize the input of rolling joint angle.Based on the results of dynamic analysis,a reasonable control idea is determined and the gait experiment of snake-like robot prototype is carried out.The results show that the influence mechanism of the damping coefficient on different gait is different;the larger the friction coefficient ratio,the higher the serpentine locomotion efficiency;and the increase of joint angle amplitude contributes to the efficiency of serpentine motion,but at the same time increases the risk of motion interference.So it should be considered comprehensively when carrying out robot prototype motion control.
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