The Dynamic Modeling of Snake-Like Robot by Using Nominal Mechanism Method

Li, Na; Zhao, Tieshi; Zhao, Yanzhi

doi:10.1007/978-3-540-88513-9_126

Cited by 3 publications

(3 citation statements)

References 3 publications

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“…Also based on Cosserat theory of elastic rods, a non-closed form, geometrically exact model was developed in [16]. A novel method of modeling planar motion of snake-like robots using virtual work principles and by the addition of a nominal mechanism to snake-like robot body is presented in [17]. A detailed account of closed-form Lagrangian dynamic models for continuum robots is covered in [18], [19] and [20].…”

Section: Introductionmentioning

confidence: 99%

Three module lumped element model of a continuum arm section

Giri

Walker

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, a section of a continuum arm is modeled using lumped model elements (masses, springs and dampers). The model, although an approximation for a continuum structure, can be used to conveniently analyze the dynamics of the arm with selectable tradeoff in accuracy of modeling. Principles of lagrangian dynamics are used to derive the expressions for the generalized forces in the system. Simulation results using the model are compared with the physical measurements of a continuum arm prototype built using McKibben actuators. A brief discussion on how this relatively simple model can be more realizable when compared to other techniques of modeling continuum arms is also presented in the paper.

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Section: Introductionmentioning

confidence: 99%

Three module lumped element model of a continuum arm section

Giri

Walker

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…By combining (27), (26), and (24) we obtain the following relations between the wheels angular velocities and the rate of change of the arclength parametersṡ…”

Section: Velocity Kinematicsmentioning

confidence: 99%

“…A hybrid model of the dynamics of a planar snake robot interacting with obstacles is derived in [25]. The concept of equality of measures is used in [26] to describe the dynamics of a planar snake-like robot while a new dynamic modeling method for snake-like robots using the concept of Nominal Mechanism is introduced in [27]. A recent survey on snake-like robots modeling is given in [28].…”

Section: Introduction and Related Literaturementioning

confidence: 99%

Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection

Douadi

Spinello

Gueaieb

2014

Journal of Computational and Nonlinear Dynamics

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In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model by addressing a path following problem inside a pipe. The dynamic model presented in this paper is the basis for the design of motion control algorithms that encode energy optimization and sensor performance maximization. Introduction and Related LiteratureThis work is part of a project aimed at the development of a three-dimensional autonomous articulated mobile robot for the exploration and nondestructive testing in confined environments that can be hazardous or not accessible to humans. One application targeted by this system is natural gas pipelines inspection. Articulated mobile robots made their appearance in the framework of service robotics [1]. Snake-like mobile robots are often chosen for the class of applications we are interested in because of their great agility and high redundancy, which enable them to operate in environments that might be too challenging for a conventional wheeled robot. For instance, they are conveniently deployed inside pipelines [2], in narrow spaces, and on the rubble of an earthquake or a major fire, and find applications in fields as diverse as rescue operations, military/defense, and confined environment exploration as, for example, inspection of bridges [3], inspection of natural gas pipelines, industrial pipes and sewer pipelines [4][5][6][7][8][9], to name a few. Snake-like robots proposed in the literature are typically locomoted either with passive caster wheels supporting their frames [10][11][12] or with no wheels at all [13][14][15][16].

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