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    Modeling and Mechanical Analysis of Snake Robots on Cylinders

    Source: Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 004::page 41013
    Author:
    Tang, Chaoquan
    ,
    Li, Peng
    ,
    Zhou, Gongbo
    ,
    Meng, Deyuan
    ,
    Shu, Xin
    ,
    Guo, Shuai
    ,
    Li, Zhixiong
    DOI: 10.1115/1.4043683
    Publisher: 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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      Modeling and Mechanical Analysis of Snake Robots on Cylinders

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4257995
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    contributor authorTang, Chaoquan
    contributor authorLi, Peng
    contributor authorZhou, Gongbo
    contributor authorMeng, Deyuan
    contributor authorShu, Xin
    contributor authorGuo, Shuai
    contributor authorLi, Zhixiong
    date accessioned2019-09-18T09:01:31Z
    date available2019-09-18T09:01:31Z
    date copyright5/17/2019 12:00:00 AM
    date issued2019
    identifier issn1942-4302
    identifier otherjmr_11_4_041013
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4257995
    description abstractThe 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.
    publisherAmerican Society of Mechanical Engineers (ASME)
    titleModeling and Mechanical Analysis of Snake Robots on Cylinders
    typeJournal Paper
    journal volume11
    journal issue4
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4043683
    journal fristpage41013
    journal lastpage041013-11
    treeJournal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian