Hostname: page-component-78c5997874-8bhkd Total loading time: 0 Render date: 2024-11-10T19:37:27.752Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and realization of a snake-like robot system based on a spatial linkage mechanism

Published online by Cambridge University Press:  10 November 2008

Na Li ,
Tieshi Zhao ,
Yanzhi Zhao  and
Yongguang Lin
Na Li
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, P.R. China
Tieshi Zhao*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, P.R. China
Yanzhi Zhao
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, P.R. China
Yongguang Lin
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, P.R. China
*
*Corresponding author. E-mail: tszhao@ysu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a novel model of snake-like robots based on a spatial linkage mechanism. The reasonable structural parameters of the mechanism are obtained by performing a kinematic simulation. Then the kinematics of the spatial linkage mechanism is developed and the motor angles of the robot for performing lateral undulation are analyzed based on the Serpenoid curve. The torque of servomotors at each moment is also obtained. The experiments detailed in this paper confirm that the robot is of the ability to realize several motion modes, including lateral undulation, left and right turning motions, and uplifting of the head.

Keywords

Snake-like robotSpatial parallel mechanismKinematicsLocomotive gaitMotion control
Type
Article
Information
Robotica , Volume 27 , Issue 5 , September 2009 , pp. 779 - 788
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Chirikjian, G. S., “Theory and Applications of Hyper-redundant Robotic Mechanisms,” Eight World Congress on the Theory of Machines and Mechanisms (Society of Czechoslavak Mathematicians and Physicists, Prague, Cechoslovakia, 1991).Google Scholar
2. Chirikjian, G. S., “Design and Experiments with a 30 DOF Robot,” IEEE Conference on Robotics and Automation, Vol. 3. (IEEE, NY, 1993) pp. 113–119.Google Scholar
3. Yim, M., “A Reconfigurable Modular Robot with Many Modes of Locomotion,” JSME International Conference on Advanced Mechatronics, Tokyo, Japan (1993).Google Scholar
4. Yim, M., Duff, D. G. and Roufas, K. D., “Polybot: A Modular Reconfigurable Robot,” IEEE International Conference on Robotics and Automation, San Francisco, CA (2000).Google Scholar
5. Murata, S., Yoshida, E., Tomita, K., Kurokawa, H., Kamimura, A. and Kokaji, S., “Hardware Design of Modular Robotic System,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00), Takamatsu, Japan (2000).Google Scholar
6. Murata, S., Kurokawa, H., Yoshida, E., Tomita, K. and Kokaji, S., “A 3-d Self-reconfigurable Structure,” IEEE International Conference on Robotics and Automation (ICRA'98), Leuven, Belgium (1998).Google Scholar
7. Rus, D. and Vona, M., “Self-reconfiguration Planning with Compressible Unit modules,” IEEE International Conference on Robotics and Automation (Detroit, MI, 1999).Google Scholar
8. Will, P., Castano, A. and Shen, W. M., “Robot Modularity for Self-reconfiguration,” SPIE International Symposium on Intelligent System and Advanced Manufacturing, Vol. 3839. (SPIE, Washington, 1999) pp.236–245.Google Scholar
9. Walker, I. D., “Some Issues in Creating Invertebrate Robots,” International Symposium on Adaptive Motion of Animals and Machines, Montreal, Canada (2000).Google Scholar
10. Togawa, K., Mori, M. and Hirose, S., “Study on 3-dimensional Active Cord Mechanism: Development of ACM-U,” IEEE International Conference on Intelligent Robots and Systems, Changsha, China (2000).Google Scholar
11. NASA. Snakebot. On-line. Available from http://amesnews.arc.nasa.gov/releases/2000/00_66AR.htmlGoogle Scholar
12. Wolf, A., Choset, H. and Brown, B. H., “Design and control of a mobile hyper-redundant urban search and rescue robot,” Adv. Rob. 19 (3), 221–248 (2005).CrossRefGoogle Scholar
13. Endo, G., Togawa, K. and Hirose, S., “Study on Self-contained and Terrain Adaptive Active Cord Mechanism,” IEEE International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA (1999) pp. 1399–1405.Google Scholar
14. Ma, S. G, “Analysis of Snake Movement Form for Realization of Snake-like Robots,” IEEE International Conference on Robotics and Automation, Detroit, Michigan (1999).Google Scholar
15. Klaassen, B. and Paap, K. L., “GMD-SNAKE2: A Snake-like Robot Driven by Wheels and a Method for Motion Control,” IEEE International Conference on Robotics and Automation, Detroit, Michigan (1999).Google Scholar
16. Miller, G., “A snake robot search-and-rescue mission,” http://www.snakerobots.com/S5.htmlGoogle Scholar
17. GMD-snake, “Robot-snake with flexible real-time control,” German National Research Center for Information Technology, http://ais.gmd.de/BAR/snake.html (1999).Google Scholar
18. Robinson, G. and Davies, J. B. C., “Continuum Robots – a State of the Art,” IEEE International Conference on Robotics and Automation, Detroit, MI (1998) pp. 2849–2854.Google Scholar
19. Hirose, S., “Snake-like Locomotors and Manipulators,” Biologically Inspired Robots (Oxford University Press, New York, 1993).Google Scholar
20. Chirikjian, G. S. and Burdick, J. W., “A modal approach to hyper-redundant manipulator kinematics,” IEEE Trans. Rob. Automat. 10 (3), 343–354 (1994).CrossRefGoogle Scholar
21. Chirikjian, G. S. and Burdick, J. W., “The kinematics of hyper-redundant robotic locomotion,” IEEE Trans. Rob. Automat. 11 (6), 781–793 (1995).CrossRefGoogle Scholar
22. Burdick, J. W., Radford, J. and Chirikjian, G. S., “A sidewinding locomotion gait for hyper-redundant robots” Adv. Rob. 9 (3), 195–216 (1995).CrossRefGoogle Scholar
23. Prautsch, P., Mita, T. and Yamaucbi, H. et al. , “Control and Analysis of the Gait of Snake Robots,” IEEE International Conference on Control Applications, Hawaii (1999).Google Scholar
24. Gravagne, I. A. and Walker, I. D., “Large deflection dynamics and control for planar continuum robots,” IEEE/ASME Trans. Mechatron. 8 (2), 299–307 (2003).CrossRefGoogle Scholar
25. Jones, B. A. and Walker, I. D., “Practical kinematics for real-time implementation of continuum robots,” IEEE Trans. Rob. 22 (6), 1087–1099 (2006).CrossRefGoogle Scholar
26. Ostrowski, J., Burdick, J. and Lewis, A. D., “Mechanics of Undulatory Locomotion: The Mixed Kinematic and Dynamic Case,” IEEE International Conference on Robotics and Automation, Nagoya, Japan (1995).Google Scholar
27. Ma, S. G., Yoshihiro, O. and Kousuke, I., “Dynamic Analysis of 3-dimensional Snake Robots,” IEEWSl International Conference on Intelligent Robots and Systems, Sendai, Japan (2004).Google Scholar
28. Spong, M. W., “Underactuated mechanical systems” Control Prob. Rob. Automat. 230, 135–150 (1998).CrossRefGoogle Scholar
29. Dai, J. S. and Zhao, T. S., “Stiffness characteristics and kinematics analysis of two-link elastic underactuated manipulators” J. Rob. Syst. 19 (4), 169–176 (2002).CrossRefGoogle Scholar
30. Zhao, T. S. and Dai, J. S., “Dynamics and coupling actuation of elastic underactuated manipulators” J. Rob. Syst. 20 (3), 135–146 (2003).CrossRefGoogle Scholar
31. Saito, M., Fukaya, M. and Iwasaki, T., “Serpentine locomotion with robotic snakes,” IEEE Contr. Syst. Mag. 22 (1), 64–81 (2002).Google Scholar