tailieunhanh - Robotics 2010 Current and future challenges Part 10

Tham khảo tài liệu 'robotics 2010 current and future challenges part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Development of mobile robots based on peristaltic crawling of an earthworm 305 Point 1 Point2 Points Point 4 Points Points Point Fig. 10. Movement tracks of flexible robot Fig. 10 shows that the extension and contraction waves propagate from the anterior to posterior part resulting in peristaltic crawling of the robot. Compared to Fig. 4 Fig. 10 shows that the robot moved backward since the extension of the anterior part and the contraction of the posterior part occurred simultaneously and that the anterior part was pulled by the posterior part. In the tube The angle of the tube was set at 0 deg 90 deg and -90 deg. These angles indicate that the robot moves in a horizontal direction in a vertical upward direction and downward direction respectively. The locomotion pattern I and a peristaltic crawling period of s were used in the tube experiment. Fig. 11. Velocity in the tube 306 Robotics 2010 Current and Future Challenges Fig. 12 shows the movement tracks of the robot at 0 deg which were analysed to confirm whether the robot moved with peristaltic crawling. The velocity change due to change in the angle of the tube is shown in Fig. 11. Fig. 11 shows that a small difference in the velocity was observed at 90 deg which was affected by the gravity. It was less than the difference we had expected. The velocity at -90 deg was twice that at 0 deg. In the Curved tube The flexibility of the robot in a curved tube was examined. Fig. 12 shows the shape of the curved tube which was made of straight tubes and curved tubes. The robot moves straight turns 90 deg to the left moves straight again and then moves up vertically. The locomotion pattern I was used in tills experiment. Fig. 13 shows the photos captured when the robot moved in the curved tube. The robot took 150 s to move from A to B. We observed that the robot was able to move in the curved tube when the locomotion pattern was used for forward movement and not for turning. Therefore we confirmed the robot .