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Structural Design and Motion Mechanism of the Rope-Drive Snake-Like Robot
| Content Provider | Semantic Scholar |
|---|---|
| Author | Zheng-Yang, Zhao Junyao, Gao Chengzu, Huang Qianying, Wu Cheng, Wang Xuandong, Su Hua-Xin, Liu |
| Copyright Year | 2012 |
| Abstract | The characteristics of the snake with a variety of motion patterns and multi-redundancy and multi-degree of freedom make it have powerful motion ability and good environmental adaptability, can pass through obstacles that human can’t. These advantages prompt us to study a new-type rope-drive snake-like robot based on the epidermis-drive. The snake-like robot uses modular design, with a remarkable versatility, economy and robustness. In this paper, we mainly design the structure of the rope-drive snake-like robot, and carry out a detail description of the drive mechanism, the drive principle and the yaw and pitch mechanism of the snake-like robot. And then study the motion mechanism of the rope-drive snake-like robot; finally verify the motion ability of the snake-like robot by experiments. Keywords-rope-drive snake-like robot; structural design; motion mechanism |
| File Format | PDF HTM / HTML |
| DOI | 10.2991/mems.2012.13 |
| Alternate Webpage(s) | https://download.atlantis-press.com/article/3755.pdf |
| Alternate Webpage(s) | https://doi.org/10.2991/mems.2012.13 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
