Dynamic Analysis of a 3-Dimensional Snake Robot

dynamic analysis of hybrid robot 3prs-rrp

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

Optimal Gait Analysis of Snake Robot Dynamics

Though there have been a lot of research in the area of snake-robot kinematics and dynamics, a little attention has been given to find out an optimal gait for the robot. This optimal gait until now is being calculated using a graphical method. An attempt, here, is made to get these optimum gait parameters using evolutionary algorithms. We intend to optimize the input power consumed by the robot...

Control of Articulated Snake Robot under Dynamic Active Constraints

Flexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily...

Dynamic Analysis of Three Dimensional Asymmetric Isolated Structures

Dynamic Analysis of Three Dimensional Asymmetric Isolated Structures