Yilansi robotlarda frekans değişiminin hareket hizina etkisi

Abstract

Snake-like robots have been the subject of a lot of study in recent years with their ability to adapt and move around, compared to wheeled and legged robots. The snake-like robots perform their walk in the form of S-sinusoidal movement. When the amplitude and joint drive frequency increase in the form of S-sinusoidal movement, the robot is moving faster. It is important for the serpentine robots to move more quickly in order to perform the assigned tasks promptly. In this study, the effect of frequency and environment on robot speed was tried to be determined by ignoring dynamic factors. In the studies, a snake robot which does not have active or passive wheels composed of 12 joints and has a sinus-lifting motion has been used. The robot was run in three different environments (paving stones, grass, carpets) at three different frequency values, and the distance and speed of travel were determined relative to the starting position.