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Kinematics analysis of a snake robot module using screw theory

Research output: Chapter in Book/Report/Conference proceedingConference paper

Qing Xiao, Zhengcai Cao, Jian S. Dai

Original languageEnglish
Title of host publication40th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages9
Volume5A-2016
ISBN (Print)9780791850152
DOIs
Publication statusPublished - Aug 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States
Duration: 21 Aug 201624 Aug 2016

Conference

ConferenceASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
CountryUnited States
CityCharlotte
Period21/08/201624/08/2016

King's Authors

Abstract

A natural snake can navigate lots of diverse environments owing to their extreme agility and hyper-redundancy. However, earlier snake robot designs are inadequate to imitate the living snake locomotion comprehensively, since the deficiency of mobility in each single module. The application of parallel mechanism in snake robot can provide considerable dexterity and support-ability to overcome the aforementioned drawback. This paper presents a bionic parallel module for snake robot inspired by the anatomy of biological snake. To generate four distinct gaits of living snake, three motion screws of the mechanism are obtained via mobility analysis. Further, a kinematic model of this mechanism is investigated by reciprocal screw and Lie algebra aimed to evaluate the kinematic performance in an efficient and accurate scheme, which facilitates real-time motion control. Finally, a numerical result using this method is supplied, and its effectiveness is corroborated by kinematic simulation of ADAMS.

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