TY - GEN
T1 - 3-DOF bionic parallel mechanism design and analysis for a snake-like robot
AU - Li, Meng
AU - Cao, Zhengcai
AU - Zhang, Dong
AU - Fu, Yili
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - This paper proposes a new joint mechanism for a snake-like robot to travel in hazardous areas for rescue tasks. In a complex environment, it is necessary to preform an efficient three-dimensional motion. But, a serial snake-like robot could hardly do that because of the limitation of its 1-DOF joint structure. To meet the requirement of flexible locomotion, a parallel mechanism was proposed which was derived from the biological characteristic of snakes. The design applied a asymmetrical structure mimicking snake spines and muscles and it has the same level of dexterity compared with rotating joint. We obtain control equations for yawing and pitching angle by inverse kinematic solution. Then, the workspace is analyzed via screw theory and vector position equation. A non-model based control serpentine gait and a multiple beat rectilinear motion of snake-like robot with parallel mechanisms are introduced.
AB - This paper proposes a new joint mechanism for a snake-like robot to travel in hazardous areas for rescue tasks. In a complex environment, it is necessary to preform an efficient three-dimensional motion. But, a serial snake-like robot could hardly do that because of the limitation of its 1-DOF joint structure. To meet the requirement of flexible locomotion, a parallel mechanism was proposed which was derived from the biological characteristic of snakes. The design applied a asymmetrical structure mimicking snake spines and muscles and it has the same level of dexterity compared with rotating joint. We obtain control equations for yawing and pitching angle by inverse kinematic solution. Then, the workspace is analyzed via screw theory and vector position equation. A non-model based control serpentine gait and a multiple beat rectilinear motion of snake-like robot with parallel mechanisms are introduced.
UR - https://www.scopus.com/pages/publications/85016713353
U2 - 10.1109/ROBIO.2016.7866272
DO - 10.1109/ROBIO.2016.7866272
M3 - 会议稿件
AN - SCOPUS:85016713353
T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
SP - 25
EP - 30
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Y2 - 3 December 2016 through 7 December 2016
ER -