This article deals with a snake robot moving in a pipe using a so-called trapezium-like travelling wave. Snake robots are a suitable solution for various types of applications, especially in rough terrain or hardly accessible areas such as, for example, pipes. Through simulation, we showed that, for the same input torque, the slightly unsymmetrical body curve progresses significantly more, 42%, than the symmetrical body. Last, a model of the snake robot was developed in Webots software. We also showed that both unsymmetrical and symmetrical body shapes consume about equal amount of torques. Results indicates increase of winding angle, decreases the required joint torque while increase in friction increase the required joint torques. Using the dynamic equations, effect of changes in winding angle, coefficient friction and unsymmetrical factor on joint torques were investigated.
Next, dynamic model of snake robot in a unsymmetrical traveling wave locomotion was developed and formulated in MATLAB software. To do this, we combined unsymmetrical body shape used for serpentine locomotion and kinematics modeling of traveling wave. We first introduced a novel locomotion, namely unsymmetrical body shape in traveling wave locomotion. In this paper, kinematics and dynamics of traveling wave locomotion of a snake robot with two types of body shape are studied. Figures 17 and 18 show the snake-robot in traveling wave locomotion with symmetrical and unsymmetrical body shapes, respectively. This represents a significant increase in snake robot speed when unsymmetrical body shape is considered. For unsymmetrical case mass center progresses 0.81m while for the symmetrical case it progresses 0.57m. The displacement of the mass center of the robot is recorded for the two cases.
All variables such as friction, winding angle, snake parameters such as length, width, and mass, as well as the virtual displacement and its derivatives are assumed fixed during the 20 seconds simulation time. Two different cases are studied symmetrical and unsymmetrical body shapes for travelling wave locomotion. A snap shot of our 16 link snake robot moving in traveling wave locomotion is shown in Figure 16.
Webots free download software#
Webots TM is a popular commercial software used for mobile robotics simulation and provides a rapid prototyping environment for modeling, programming and simulation. Webots TM software is used for simulation. simulation both, symmetrical and unsymmetrical body shapes are considered.
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