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Kinematics Analysis of a Snake Robot Module Using Screw Theory

[+] Author Affiliations
Qing Xiao, Zhengcai Cao

Beijing University of Chemical Technology, Beijing, China

Jian S. Dai

King’s College London, London, UK

Paper No. DETC2016-59273, pp. V05AT07A057; 9 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5015-2
  • Copyright © 2016 by ASME


A natural snake can navigate lots of diverse environments owing to their extreme agility and hyper-redundancy. However, earlier snake robot designs are inadequate to imitate the living snake locomotion comprehensively, since the deficiency of mobility in each single module. The application of parallel mechanism in snake robot can provide considerable dexterity and support-ability to overcome the aforementioned drawback. This paper presents a bionic parallel module for snake robot inspired by the anatomy of biological snake. To generate four distinct gaits of living snake, three motion screws of the mechanism are obtained via mobility analysis. Further, a kinematic model of this mechanism is investigated by reciprocal screw and Lie algebra aimed to evaluate the kinematic performance in an efficient and accurate scheme, which facilitates real-time motion control. Finally, a numerical result using this method is supplied, and its effectiveness is corroborated by kinematic simulation of ADAMS.

Copyright © 2016 by ASME
Topics: Kinematics , Robots , Screws



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