Modeling and Mechanical Analysis of Snake Robots on CylindersSource: Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 004::page 41013Author:Tang, Chaoquan
,
Li, Peng
,
Zhou, Gongbo
,
Meng, Deyuan
,
Shu, Xin
,
Guo, Shuai
,
Li, Zhixiong
DOI: 10.1115/1.4043683Publisher: American Society of Mechanical Engineers (ASME)
Abstract: The narrow and redundant body of the snake robot makes it suitable for the inspection of complex bar structures, such as truss or tree structures. One of the key issues affecting the efficient motion of snake robots in complex bar structures is the development of mechanical models of snake robots on cylinders. In other words, the relationship between the payload and structural and performance parameters of the snake robot is still difficult to clarify. In this paper, the problem is approached with the Newton–Euler equations and the convex optimal method. Firstly, from the kinematic point of view, the optimal attitude of the snake robot wrapped around the cylinder is found. Next, the snake robot is modeled on the cylinder and transformed into a convex optimization problem. Then, the relationship between the payload of the snake robot on the cylinder and the geometric and attitude parameters of the body of snake robots is analyzed. Finally, the discussion for the optimal winding attitude and some advices for the design of the snake robot are proposed. This study is helpful toward the optimal design of snake robots, including geometry parameters and motor determination.
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contributor author | Tang, Chaoquan | |
contributor author | Li, Peng | |
contributor author | Zhou, Gongbo | |
contributor author | Meng, Deyuan | |
contributor author | Shu, Xin | |
contributor author | Guo, Shuai | |
contributor author | Li, Zhixiong | |
date accessioned | 2019-09-18T09:01:31Z | |
date available | 2019-09-18T09:01:31Z | |
date copyright | 5/17/2019 12:00:00 AM | |
date issued | 2019 | |
identifier issn | 1942-4302 | |
identifier other | jmr_11_4_041013 | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4257995 | |
description abstract | The narrow and redundant body of the snake robot makes it suitable for the inspection of complex bar structures, such as truss or tree structures. One of the key issues affecting the efficient motion of snake robots in complex bar structures is the development of mechanical models of snake robots on cylinders. In other words, the relationship between the payload and structural and performance parameters of the snake robot is still difficult to clarify. In this paper, the problem is approached with the Newton–Euler equations and the convex optimal method. Firstly, from the kinematic point of view, the optimal attitude of the snake robot wrapped around the cylinder is found. Next, the snake robot is modeled on the cylinder and transformed into a convex optimization problem. Then, the relationship between the payload of the snake robot on the cylinder and the geometric and attitude parameters of the body of snake robots is analyzed. Finally, the discussion for the optimal winding attitude and some advices for the design of the snake robot are proposed. This study is helpful toward the optimal design of snake robots, including geometry parameters and motor determination. | |
publisher | American Society of Mechanical Engineers (ASME) | |
title | Modeling and Mechanical Analysis of Snake Robots on Cylinders | |
type | Journal Paper | |
journal volume | 11 | |
journal issue | 4 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4043683 | |
journal fristpage | 41013 | |
journal lastpage | 041013-11 | |
tree | Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 004 | |
contenttype | Fulltext |