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Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot

Published online by Cambridge University Press:  10 April 2019

Ruoyu Feng ,
Peng Zhang ,
Junfeng Li  and
Hexi Baoyin
Ruoyu Feng
Affiliation:
School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails: fry18@mails.tsinghua.edu.cn, zhangpen18@mails.tsinghua.edu.cn, lijunf@mail.tsinghua.edu.cn
Peng Zhang
Affiliation:
School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails: fry18@mails.tsinghua.edu.cn, zhangpen18@mails.tsinghua.edu.cn, lijunf@mail.tsinghua.edu.cn
Junfeng Li
Affiliation:
School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails: fry18@mails.tsinghua.edu.cn, zhangpen18@mails.tsinghua.edu.cn, lijunf@mail.tsinghua.edu.cn
Hexi Baoyin*
Affiliation:
School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails: fry18@mails.tsinghua.edu.cn, zhangpen18@mails.tsinghua.edu.cn, lijunf@mail.tsinghua.edu.cn
*
*Corresponding author. E-mail: baoyin@tsinghua.edu.cn
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Summary

In this study, the kinematics and dynamics of a single actuator wave (SAW)-like robot are explored. Comprising a helical spine and links, SAW has the potential for miniaturization. A kinematic model for SAW is firstly established, and the dynamic equation of motion is derived based on Kane’s method. For validation, the motion of SAW is simulated using both MATLAB and ADAMS, and the comparison of results demonstrates the effectiveness of the theoretical models. Then the inverse dynamic analysis is performed to reveal the power consumption. Finally, robot prototypes are developed and tested to confirm the robot velocity predicted by simulations.

Keywords

Wave-like robotSingle actuatorModelingKane’s methodSimulation
Type
Articles
Information
Robotica , Volume 37 , Issue 11 , November 2019 , pp. 1971 - 1986
Copyright
© Cambridge University Press 2019 

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