چکیده مقاله
In this paper, dynamic equation of n link snake robot is derived using Lagrange's method for two friction model: simple viscous and coulomb A simplified form for the final dynamic equation in matrix format is presented In order to verify the derived dynamic equation, snake robot model prepared in SimMechanics toolbox of MATLAB package is used Results obtained by the derived dynamic equation closely agree with those of SimMechaics In order to experimentally evaluate the results, a 5 link snake an undulatory robotic prototype has been developed using off the shelf components and conventional fabrication techniques Experimental verification of the derived dynamic equation has also be perfomed
نویسندگان
Hamid Bamshad
Student, Faculty of Mechanical Engineering, Ferdowsi University of Mashhad
Ali Reza Akbarzadeh Tootoonchi
Assistant Professor, Faculty of Mechanical Engineering, Ferdowsi University of Mashhad
Shahir Hasanzadeh
Master of Science in Mechanical Engineering, Ferdowsi University of Mashhad
شیوه ارجاع
Bamshad, Hamid and Akbarzadeh Tootoonchi, Ali Reza and Hasanzadeh, Shahir,1388,Design, Construction and Dynamic Modeling of a Snake Robot,10th Iranian Conference on Manufacturing Engineering (ICME 2010),Babol
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