Unfolded/tightened mechanism series support design based on characteristics of flying snake spine

Author

Zuhui Jiang ; Baolin Feng ; Shibiao Zhao ; Zhongshan Zheng ; Lu Li ; Kexuan Li

Author_Institution

Univ. of Sci. & Technol. of China, Hefei, China

fYear

2014

Firstpage

2362

Lastpage

2367

Abstract

This article proposes a new design of a 3D unfolded/tightened mechanism based on the spine structure of golden tree snake, which can realize torsion and bending. Inspired by golden tree snake vertebrae space deformation characteristics, analyzing the anatomy characteristics of the golden tree snake spine bone and muscle distribution characteristics, The bionic mechanism and drive unit can drive the 3D unfolded/tightened mechanism and meet the demand of unfolded/tightened mechanism pose and adjustment, compared with the traditional unfolded/tightened mechanism. In this paper, dynamics model of this robot established by Lagrange method is represented.

Keywords

autonomous aerial vehicles; bending; deformation; design engineering; robot dynamics; 3D unfolded-tightened mechanism; Lagrange method; bending; bionic mechanism; flying snake spine; golden tree snake spine bone; golden tree snake vertebrae space deformation characteristics; muscle distribution characteristics; robot dynamics model; spine structure; torsion; unfolded-tightened mechanism series support design; Analytical models; Force; Robots; Simulation; Solid modeling; Springs; Three-dimensional displays; Lagrange method; dynamic modeling; rope drive; simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on

Type

conf

DOI

10.1109/ROBIO.2014.7090691

Filename

7090691