Design and dynamic analysis for Amoeba-like robot's turning-mechanism applied with spring and damp system
Xiang Dong; Henghui Sun; Zengfu Wang; Long Cheng
2016
会议名称International Conference on Advanced Robotics and Mechatronics (ICARM)
会议日期AUG 18-20, 2016
会议地点Macau
会议举办国China
摘要A new turning-mechanism for Amoeba-like Robot was proposed in this paper, which based on the amoeba-like robot kinematics characteristics of tail contracting and skin flipping. First, one kind of variable-speed node composed of the spring and damp was designed. Because of the existing of the variable-speed nodes, the velocities of the two strip-skins depended not only on the velocities of threads that gone through the variable-speed nodes, but also on the spring and damp it contained. So, although the velocities of threads that induced the velocities of the strip-skins were the same, the velocities of the strip-skins still can be different since the variable-speed nodes existed. That difference in velocities made the turning movement possible. Second, the dynamic model for the turning movement of the Amoeba-like Robot was established and analyzed. The analysis results included the angular velocity and angle curve related to time, which were computed with the dynamic model when shortening speed of thread's length was constant. The results achieved in this paper provided an important basic for the research on the behaviors and control strategy of amoeba-like robot. The new turning-mechanism can be popularized to the tracked mobile robot, for it provided a new and available turning method.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23130
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Xiang Dong,Henghui Sun,Zengfu Wang,et al. Design and dynamic analysis for Amoeba-like robot's turning-mechanism applied with spring and damp system[C],2016.
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