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Kinetostatics of a Snake Robot with Redundant Degrees of Freedom

Authors :
Dong-Jie Zhao
Han-Lin Sun
Zhao-Cai Du
Yan-Bin Yao
Jing-Shan Zhao
Source :
Machines, Vol 12, Iss 8, p 526 (2024)
Publication Year :
2024
Publisher :
MDPI AG, 2024.

Abstract

This paper proposes a kinetostatic approach for analyzing the joint torques of a redundant snake robot. The method is suitable for weightless space environments. With the high degree of freedom and flexible cable actuation, the redundant snake robot is well-suited for utilization in space-weightless environments. This method reduces computational cost by using the multiplication of matrices and vectors instead of inverse matrices. Taking advantage of the velocity screw (twist) and force screw (wrench), this strategy provides an idea for redundant serial robots to achieve the calculation of joint torques. This methodology is straightforward for programming and has good computational efficiency. The instantaneous work performed by the actuation is expressed with the force screw. According to the principle of virtual work, the kinetostatic equation of the robot can be obtained and the torque required for each joint can be determined. Meanwhile, to solve the inertia force generated by joint acceleration, D’Alembert’s principle is adopted to transform the dynamic problem into a static problem. Through kinetostatic analysis of a redundant snake robot, this paper shows the approach of establishing the kinetostatic model to calculate the torque in screw form. At the same time, the actuation distribution of the redundant snake robot is also cracked effectively for practical purposes. Due to the difficulty of achieving weightless space environments, this paper validates the method by using ADAMS simulation without gravity in the simulation.

Details

Language :
English
ISSN :
20751702
Volume :
12
Issue :
8
Database :
Directory of Open Access Journals
Journal :
Machines
Publication Type :
Academic Journal
Accession number :
edsdoj.619e33b343004505aba5b85ea5632910
Document Type :
article
Full Text :
https://doi.org/10.3390/machines12080526