期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
DOI：10.5772/62187
语种：English
出版社：SAGE Publications
摘要：A flexible snake robot has better navigation ability compare with the existing electrical motor-based rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper discusses the modelling, simulation and experiment of a flexible snake robot. The modelling consists of the kinematic analysis and the dynamic analysis of the snake robot. A platform based on the Incompletely Restrained Positioning Mechanism (IRPM) is proposed, which uses the external force provided by a compliant flexible beam in each of the actuators. The compliant central column allows the configuration to achieve three degrees of freedom (3DOFs) with three tendons. The proposed flexible snake robot has been built using smart material, such as electroactive polymers (EAPs), which can be activated by applying power to it. Finally, the physical prototype of the snake robot has been built. An experiment has been performed in order to justify the proposed model.
