Development of a Helical Climbing Modular Snake Robot

摘要：

This research aims to study the grasping torque profile of the helical climbing robot on the cylindrical pole with constant radius. The modular snake robot is formed into a helical shape which can be described by various parameters such as the helical pitch angle, the radius and the pitch distance. The torque in each axis of rotation is affected by the helical pitch angle parameter. Five grasping configurations with different helical pitch angle were tested on the 18 degree of freedoms, 7 modules wheeled snake robot. The experimental result showed that the torque around yaw axis transferred to the pitch axis when the helical pitch angle was increasing. The profile of torque magnitude along the robots body resulted in parabolic shape due to the unbalanced grasping force of the discrete points of contact between the robot and the pole.

关键词： Modular Snake Robot Grasping Pole Climbing

作者: Pongsakorn Polchankajorn Thavida Maneewarn

作者单位: Institute of FIeld roBOtics (FIBO),Tungkru,Bangkok 10140 Thailand

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 197-202

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）