Title : ( Kinematics and Motion Analysis of a Three-Dimensional Sidewinding Snake-like Robot )
Authors: Siavash Sarrafan , Alireza Akbarzadeh Tootoonchi , Sina Molavipour , mohammad arhami ,
Full TextAbstract
In this paper, kinematics of a snake-like robot with maneuverability in three dimensions is calculated using Denavit-Hartenberg and modified Denavit-Hartenberg conventions and is verified by Matlab’s Simulink®. A spring-damper system is used to model ground and therefore its normal forces applying to the robot. Coulomb friction is used as the friction model and two different sidewinding gaits are applied to the robot and its motion is compared using three simulation packages, namely Webots®, Simulink® and Adams®.
Keywords
, Kinematics – Snake, like robots – Sidewinding – Dynamic Simulation
@inproceedings{paperid:1033717,
author = {Sarrafan, Siavash and Akbarzadeh Tootoonchi, Alireza and Molavipour, Sina and Arhami, Mohammad},
title = {Kinematics and Motion Analysis of a Three-Dimensional Sidewinding Snake-like Robot},
booktitle = {National Conference on Mechanical Engineering},
year = {2011},
location = {شیراز, IRAN},
keywords = {Kinematics – Snake-like robots – Sidewinding – Dynamic Simulation},
}
%0 Conference Proceedings
%T Kinematics and Motion Analysis of a Three-Dimensional Sidewinding Snake-like Robot
%A Sarrafan, Siavash
%A Akbarzadeh Tootoonchi, Alireza
%A Molavipour, Sina
%A Arhami, Mohammad
%J National Conference on Mechanical Engineering
%D 2011
