بهبود طراحي روباتهاي متحرك مارشكل با استفاده از آناتومي مار

Design Enhancement of Mobile Snake Robots Based on Snake Anatomy

The main concentration of most of the snake robot researches has been on mechanism, control or dynamics. They have rarely focused on snake anatomy to adopt it in design. So far, snake robots are nothing more than an experimental prototype. They have not yet converted to an industrial mobile robot. This paper focuses on snake anatomy to employ its principle in the design of snake robots and increase their chance of being industrial mobile robots. The result was to find the impact of snake anatomy to reduce actuatorsʹ torque, as well as the way peg points are established during serpentine motion. This finding will help to remove wheels under snake robots.