09-10-2010, 03:21 PM
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Dynamic Analyze of Snake Robot
Seif Dalilsafaei
Abstract—
Crawling movement as a motive mode seen in nature
of some animals such as snakes possesses a specific syntactic and
dynamic analysis. Serpentine robot designed by inspiration from
nature and snake’s crawling motion, is regarded as a crawling robot.
In this paper, a serpentine robot with spiral motion model will be
analyzed. The purpose of this analysis is to calculate the vertical and
tangential forces along snake’s body and to determine the parameters
affecting on these forces. Two types of serpentine robots have been
designed in order to examine the achieved relations explained below