The Dynamic Modeling of Snake-Like Robot by Using Nominal Mechanism Method

摘要

Based on the influence coefficient and virtual work principles, by adding a Nominal Mechanism to the snake-like robot body, a novel method of dynamic modeling for snake-like robots is presented. And the second order nonholonomic constraint equation of snake-like robots is also established under considering side slides of the condyles. With the expressions given in the paper, researches can directly develop imitation programs of the forward and inverse dynamics without complicated derivative or eliminating operations. It gives an effective method for analyzing the characteristics of dynamic coupling of snake-like robots and developing the motion controller for snake-like robots with the second order nonholonomic constraints equations. The method is not only available for the planar motion of snake-like robots, but also can be extended to analyze the dynamic modeling and imitation of snake-like robots with spatial mechanism joints.