Generalized Singularity Analysis of Snake-Like Robot

Applied Sciences

Shunsuke Nansai¹  Hiroshi Itoh¹  Masami Iwase² 

[1] Department of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, Tokyo 120-8551, Japan;Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, Tokyo 120-8551, Japan;

关键词: snake-like robot;    singularity analysis;    system design;   

DOI  :  10.3390/app8101873

来源: DOAJ

【 摘 要 】

The purpose of this paper is to elucidate a generalized singularity analysis of a snake-like robot. The generalized analysis is denoted as analysis of singularity of a model which defines all designable parameters such as the link length and/or the position of the passive wheel as arbitrary variables. The denotation is a key point for a novelty of this study. This paper addresses the above new model denotation, while previous studies have defined the designable parameters as unique one. This difference makes the singularity analysis difficult substantively. To overcome this issue, an analysis method using redundancy of the snake-like robot is proposed. The proposed method contributes to simplify singularity analysis concerned with the designable parameters. The singular configurations of both the model including side-slipping and the one with non side-slipping are analyzed. As the results of the analysis, we show two contributions. The first contribution is that a singular configuration depends on designable parameters such as link length as well as state values such as relative angles. The second contribution is that the singular configuration is characterized by the axials of the passive wheels of all non side-slipping link. This paper proves that the singular configuration is identified as following two conditions even if the designable parameters are chosen as different variables and the model includes side-slipping link. One is that the axials of passive wheels of all non side-slipping links intersect at a common point. Another one is that axials of passive wheels of all non side-slipping links are parallel.

【 授权许可】

Unknown