تحليل ديناميكي و طراحي حركتي يك ربات خزنده بر روي سطح شيب دار

MOTION PLANNING AND SIMULATION OF A CREEPING ROBOT ON SLOPE

In this study, creeping motion as a natural locomotion mode and creeping motion of a snake-like robot on slope are studied. A snake like robot is designed by inspiring nature and snakeʹs creeping motion, and is referred to as creeping robot. In this paper, a n+2 DOF creeping snake-like robot and its kinematics and dynamics are analyzed. Since in real situations a snake-like robot must pass through rough terrains and slopes, its motion on the slope is modeled and its equations of motion are obtained by Newton-Eulers method. Also, a software simulator is designed for simulation and analysis of a creeping robot. This software is used to find the optimum motion parameters of creeping robot locomotion on the slope with different angles. Optimization criterion in motion planning with efficient motion minimizes the frictional power loss. These results indicate a simple relationship between velocity, slope angles, and motion optimum parameters. The obtained efficient parameters are applicable to motion planning, controller design, and Neural Network training for the design of a creeping snake-like robot.