Dynamic modeling and simulation of a snake-like multibody robotic system with ground-adaptive strategy and efficient undulatory locomotion

IF 2.6 2区 工程技术 Q2 MECHANICS Multibody System Dynamics Pub Date : 2024-02-19 DOI:10.1007/s11044-024-09967-3
Shaukat Ali
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Abstract

This article presents a strategy of self adaptation for planar undulatory locomotion of an elongated, snake-like multibody robotic system under both non-varying and varying surface friction. Based on the system dynamics, an algorithm is developed to investigate the locomotion performance and its dependence upon the lateral undulation parameters. The celerity of the lateral undulatory wave propagating over the body of the robot is taken as a key parameter, since the variation of the celerity affects the forward propulsion speed of the robot. Moreover, celerity of the lateral undulatory wave is a linear function of the angular frequency of the sinusoidal motion imposed on the joints of the robot. Considering the static-kinetic lateral friction, the proposed algorithm computes the important point of separation between no-lateral slip and lateral slip simply with the help of celerity and speed of propulsion. Therefore, the results identify the optimum speed of propulsion for ground-adaptivity and efficient undulatory locomotion of the robot. The simulation results further verify the influence of the angular frequency of the sinusoidal joint motion upon the speed of propagation of the undulatory wave and also upon the speed of propulsion of the robot. This research work can provide useful basis for the control, optimization and self-adaptive locomotion of such and similar robots.

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具有地面适应策略和高效起伏运动的蛇形多体机器人系统的动态建模与仿真
本文介绍了在非变化和变化表面摩擦力条件下,细长蛇形多体机器人系统平面起伏运动的自适应策略。在系统动力学的基础上,开发了一种算法来研究运动性能及其对横向起伏参数的依赖性。在机器人身体上传播的横向起伏波的加速度是一个关键参数,因为加速度的变化会影响机器人的前进推进速度。此外,横向起伏波的加速度是施加在机器人关节上的正弦运动角频率的线性函数。考虑到静态-动力横向摩擦力,所提出的算法可以简单地借助加速度和推进速度计算出无横向滑移和横向滑移之间的重要分界点。因此,仿真结果确定了机器人适应地面和高效起伏运动的最佳推进速度。模拟结果进一步验证了正弦关节运动的角频率对起伏波传播速度和机器人推进速度的影响。这项研究工作可为此类及类似机器人的控制、优化和自适应运动提供有用的依据。
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来源期刊
CiteScore
6.00
自引率
17.60%
发文量
46
审稿时长
12 months
期刊介绍: The journal Multibody System Dynamics treats theoretical and computational methods in rigid and flexible multibody systems, their application, and the experimental procedures used to validate the theoretical foundations. The research reported addresses computational and experimental aspects and their application to classical and emerging fields in science and technology. Both development and application aspects of multibody dynamics are relevant, in particular in the fields of control, optimization, real-time simulation, parallel computation, workspace and path planning, reliability, and durability. The journal also publishes articles covering application fields such as vehicle dynamics, aerospace technology, robotics and mechatronics, machine dynamics, crashworthiness, biomechanics, artificial intelligence, and system identification if they involve or contribute to the field of Multibody System Dynamics.
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