Structural Design and Motion Mechanism of the Rope-Drive Snake-Like Robot

DOI

10.2991/mems.2012.13How to use a DOI?

Keywords

rope-drive snake-like robot; structural design; motion mechanism

Abstract

The characteristics of the snake with a variety of motion patterns and multi-redundancy and multi-degree of freedom make it have powerful motion ability and good environmental adaptability, can pass through obstacles that human can’t. These advantages prompt us to study a new-type rope-drive snake-like robot based on the epidermis-drive. The snake-like robot uses modular design, with a remarkable versatility, economy and robustness. In this paper, we mainly design the structure of the rope-drive snake-like robot, and carry out a detail description of the drive mechanism, the drive principle and the yaw and pitch mechanism of the snake-like robot. And then study the motion mechanism of the rope-drive snake-like robot; finally verify the motion ability of the snake-like robot by experiments.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - ZHAO Zhengyang
AU  - GAO Junyao
AU  - HUANG Chengzu
AU  - WU Qianying
AU  - WANG Cheng
AU  - SU Xuandong
AU  - LIU Huaxin
AU  - LI Xin
AU  - Liu Yi
AU  - Xu Zhe
PY  - 2012/12
DA  - 2012/12
TI  - Structural Design and Motion Mechanism of the Rope-Drive Snake-Like Robot
BT  - Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012)
PB  - Atlantis Press
SP  - 49
EP  - 53
SN  - 1951-6851
UR  - https://doi.org/10.2991/mems.2012.13
DO  - 10.2991/mems.2012.13
ID  - Zhengyang2012/12
ER  -