Motion Simulation and Performance Analysis of 2D Variable Stiffness Snake-like Robot

doi:10.16182/j.issn1004731x.joss.20-0871

Abstract

Abstract:

Aiming at the study on the motion performance of a two-dimensional variable stiffness snake-robot, a Simulink/Adams co-simulation model is established, and the effects of the damping coefficient, the stiffness parameters and the angular frequency of the variable stiffness actuator on the motion energy consumption are analyzed. To realize the synchronous control of joint trajectory and stiffness, a motion controller based on two-layer CPG is proposed. The results show that the damping coefficient can effectively reduce the proportion of starting energy consumption of the variable stiffness snake-like robot, and the ratio of starting energy consumption increases with the stiffness parameter increasing at low speed. The energy consumption of the variable stiffness snake-like robot has a peak value at high speed, so the movement under this condition should be avoided.

Key words: snake-like robot, variable stiffness actuator, bio-inspired control, energy consumption, central pattern generator

CLC Number:

TP249

Yanqin Long, Guifang Qiao, Guangming Song, Ying Zhang, Linlin Cheng. Motion Simulation and Performance Analysis of 2D Variable Stiffness Snake-like Robot[J]. Journal of System Simulation, 2022, 34(4): 759-767.

Figures/Tables 8

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名称	长度/mm	宽度/mm	高度/mm	质量/kg
头部模块	135	50	60	0.937
连接模块	135	50	60	0.969
尾部模块	110	50	60	0.935
机体参数	1 460	50	60	10.593

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