Concertina locomotion refers to a type of motion where parts of the body contract, expand or do not change their shape. The significant advantage of the proposed kinematics model is in its flexibility to model natural snake robot concertina locomotion. The paper ends with confirmation studies using Webots simulation software. This paper starts with presenting a novel kinematics modelling approach for a snake-like robot travelling with concertina locomotion. In the final part of this paper, experimental results are discussed and key elements of the proposed control algorithm are highlighted. Experimental results show the influence of certain parameters of the trapezium-like travelling wave on locomotion properties, such as the travelled distance or the average speed of the snake robot passing through a pipe. Furthermore, in our research we have developed an experimental snake robot with the purpose to verify the derived mathematical model, control algorithm and simulation model. The paper also presents a simulation model in MATLAB R2019b interfacing with CoppeliaSim V4.0.0. Within the control algorithm we introduced the so-called motion matrix of a trapezium-like travelling wave that contains information about the vector of generalized variables at any point of the locomotion cycle. Subsequently, we designed a control algorithm using a trapezium-like travelling wave. In this paper, we present a mathematical model of locomotion of the snake robot in a pipe of rectangular cross-section. 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 darwin matlab 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.
0 kommentar(er)
