I Forward kinematics of a snake robot

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To build a forward kinematic model of a snake robot, it's essential to understand its movement dynamics and joint configurations. The discussion highlights the importance of defining the number of segments, modes of movement, and degrees of freedom for the joints, as these factors influence the end-effector position. Two primary movement methods are identified: swimming by pushing against fixed objects and lifting loops to create a ripple effect. The user is working with MATLAB and the Peter Corke robotic toolbox, aiming to start with simple movements. Understanding these parameters will aid in developing an accurate kinematic model for the snake robot.
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i want to build a forward kinematic model of a snake robot, to find its end-effector position

am already worked on a few robotic arms like puma 560 using the DH table
so i tried using the DH table on the snake robot, but it seemed wrong, so how do i do it ?

the snake robot is similar to the picture below
1649969697797.png
 
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Welcome to PF.
How many segments do you use ?
What mode of movement do you model ?
What degree of freedom do the joints have ?
On a flat surface a snake moves by lifting loops from the surface, then passing the loops forwards.
 
Baluncore said:
Welcome to PF.
How many segments do you use ?
What mode of movement do you model ?
What degree of freedom do the joints have ?
On a flat surface a snake moves by lifting loops from the surface, then passing the loops forwards.
1650031661552.png

these are the parameters i have
also i only worked on simple articulated robotic arms so i have no idea about this kind of robots and am trying to learn it
the example am working on is from an article called "The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot " which can be found as pdf on google
 
First understand two of the ways that a 1 DoF model snake travels.
1. With hinge pins vertical, it “swims”, by pushing on fixed things in the environment, or:
2. With hinge pins horizontal, it lifts a 3 segment loop at the tail, so tip of the tail comes forwards, then that loop travels forwards like a ripple along the snake.
In both cases, if it has sufficient segments there can be several push points or active loops.
How can a square section snake, with a 1 DoF hinge, roll on it's side ?
Will your "kinematic model" be in software or hardware ?
Do you have a simulator ?
Have you watched snakes moving in different environments ?
 
am working on MATLAB with peter corke robotic toolbox
i wanted to start with simple movement.
 
Here are the basic methods of moving.

You need to consider what degrees of freedom you require to make a simple but useful movement.
 
Hi baluncore. I am Vignesh. How can I contact you
 
Welcome to PF.
Look in your private conversations.
 
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