Analysis of Under-Actuated Snake Arm Robot

Xiaoqi Zhou, Feng Wang, Lei Dong, Zhongjian Dai

2018

Abstract

In view of the problem that traditional industrial robot can’t adapt to some special areas due to its structural characteristics，a wire -driven snake arm robot, consisting of joints, drive mechanisms and a sliding rail platform is designed. In this paper, the structure characteristics of discrete series robot are analyzed in detail comparing with continuum robot. Moreover, the kinematic modeling of the under-actuated snake arm robot is established by using the method of continuum robot. Through simulation of the length of drawing wires, the relationships between the length of the wires and the bending angles and angles of joint rotation are obtained. The correctness and effectiveness of the robot are proved by analyzing and discussing the error factors of modeling and the attitude control experiments of the robot based on the space model.

Paper Citation

in Harvard Style

Zhou X., Wang F., Dong L. and Dai Z. (2018). Analysis of Under-Actuated Snake Arm Robot.In 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT, ISBN 978-989-758-312-4, pages 414-422. DOI: 10.5220/0006971904140422

in Bibtex Style

@conference{icectt18,
author={Xiaoqi Zhou and Feng Wang and Lei Dong and Zhongjian Dai},
title={Analysis of Under-Actuated Snake Arm Robot},
booktitle={3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,},
year={2018},
pages={414-422},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006971904140422},
isbn={978-989-758-312-4},
}

in EndNote Style

TY - CONF

JO - 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,
TI - Analysis of Under-Actuated Snake Arm Robot
SN - 978-989-758-312-4
AU - Zhou X.
AU - Wang F.
AU - Dong L.
AU - Dai Z.
PY - 2018
SP - 414
EP - 422
DO - 10.5220/0006971904140422