Design and Motion Analysis of Three-link Wheel Snake-like Robot
In order to overcome the weakness of the snake-like robot driven by driven wheels，a new three-link snake-like robot driven by driving wheels is proposed. The snake-like robot is composed of a plurality of serial connecting rods connected by passive joints，and the center of each connecting rod is pro...
| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.013 |
| Summary: | In order to overcome the weakness of the snake-like robot driven by driven wheels，a new three-link snake-like robot driven by driving wheels is proposed. The snake-like robot is composed of a plurality of serial connecting rods connected by passive joints，and the center of each connecting rod is provided with an active omnidirectional wheel. The driving force of omnidirectional wheels only acts on the transverse direction， while the robot moves along the longitudinal direction. In addition，aiming at the characteristics of incomplete constraint and underactuated snake-like robot， a motion controller with anti-skid function is designed by using local coordinate system， so that the motion and joint angle do not interfere with each other. The experimental results of slithered movement show that the proposed design is feasible， and the motion controller effectively avoids the problem of omnidirectional wheel slippage and improves the stability of the whole system. |
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| ISSN: | 1004-2539 |