Smart Material-actuated Flexible Tendon-based Snake Robot

被引：14

作者：

Ahmed, Mohiuddin ^{[1
]}

Billah, Md. Masum ^{[2
]}

机构：

[1] Jazan Univ, Fac Comp Sci & Informat Syst, Jazan, Saudi Arabia

[2] Int Islamic Univ Malaysia, Fac Engn, Kuala Lumpur, Selangor, Malaysia

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2016年 / 13卷

关键词：

Active Tendon; Parallel Platform; Flexible; Snake Robot; EAP; POLYMER-METAL COMPOSITES;

D O I：

10.5772/62187

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A flexible snake robot has better navigation ability compare with the existing electrical motor-based rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper discusses the modelling, simulation and experiment of a flexible snake robot. The modelling consists of the kinematic analysis and the dynamic analysis of the snake robot. A platform based on the Incompletely Restrained Positioning Mechanism (IRPM) is proposed, which uses the external force provided by a compliant flexible beam in each of the actuators. The compliant central column allows the configuration to achieve three degrees of freedom (3DOFs) with three tendons. The proposed flexible snake robot has been built using smart material, such as electroactive polymers (EAPs), which can be activated by applying power to it. Finally, the physical prototype of the snake robot has been built. An experiment has been performed in order to justify the proposed model.

引用

页数：10

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