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  • 标题:Experimental Analysis of Fixation Curves of Snake Robot Moving in the Pipe
  • 本地全文:下载
  • 作者:Ivan Virgala ; Michal Kelemen ; Martin Hagara
  • 期刊名称:American Journal of Mechanical Engineering
  • 印刷版ISSN:2328-4102
  • 电子版ISSN:2328-4110
  • 出版年度:2016
  • 卷号:4
  • 期号:7
  • 页码:297-305
  • DOI:10.12691/ajme-4-7-13
  • 出版社:Science and Education Publishing
  • 摘要:The research field of the snake robots provides a large scale of new information. The snake robots locomotion in pipes represents one of many complicated problems attracting the attention only in recent time period. During this study an experimental environment was designed corresponding to the pipe of U shaped cross section. This article describes a new innovative kinematic structure enabling both rotary and translational movements of links of a snake robot. Combination of these two robot constrains in constructions provides new possibilities of locomotion in a confined space. The main work contribution consists in the analysis of geometric configuration oflinks in static fixation according to their displacements and required actuators electric power. In the experiment withphysical model the method of digital image correlation was used because of the possibilities to take the movement of high dynamic range. Contribution of this experiment furnishes new information and new approach in solving the existing problem.
  • 关键词: snake robot; fixation curves; digital image correlation
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