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Inverse dynamic modeling and analysis of a new caterpillar robotic mechanism by Kane's method

Published online by Cambridge University Press:  20 August 2012

Hong-Xing Wei ,
Tian-Miao Wang ,
Miao Liu  and
Jiang-Yang Xiao
Hong-Xing Wei*
Affiliation:
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, P. R. China
Tian-Miao Wang
Affiliation:
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, P. R. China
Miao Liu
Affiliation:
Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai 200050, P. R. China
Jiang-Yang Xiao
Affiliation:
Graduate Department, Academy of Armored Force Engineering, Beijing 100072, P. R. China
*
*Corresponding author. E-mail: weihongxing@buaa.edu.cn
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Summary

Bionic engineering has been a focus in the field of robotic researches. Inverse dynamic analysis is significant for the determination of dynamic parameters of bionic robots. The present paper uses a newly developed robot modular named Sambot to construct a caterpillar robotic mechanism, and designs a gait of trapezoidal wave locomotion for it. Two open-link models are put forth to simulate the dynamic behavior of such a locomotion. The inverse dynamic differential equations are derived by Kane's method and are then solved numerically by the Runge–Kutta method of the fourth order. Based on the numerical solutions of these differential equations, the applied joint torques required to produce the harmonic trapezoidal wave locomotion are determined finally, providing us important information on the gait control of the caterpillar robotic mechanism. Finally, the theoretical values of the joint torques are applied onto the present caterpillar mechanism to perform a locomotion experiment, which verifies the effectiveness of the present dynamics analysis.

Keywords

Caterpillar mechanismBionic robotsInverse dynamic analysisKane's method
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 493 - 501
Copyright
Copyright © Cambridge University Press 2012

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