Manipulator simulation and its application to model a crawling gait locomotion
by S.M.R.S. Noorani, Ahmad Ghanbari
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 9, No. 3/4, 2011

Abstract: In recent years, efforts have been made to develop efficient path planners for manipulators with large numbers of Degrees of Freedom (DOFs). The first part of this paper includes modelling and dynamic analysing of the planar manipulators, which consist of n revolute joints and possess a frictional contact between end-effecter and environment. The dynamic analysis is based on Lagrangian formulation and equations of motion are represented in an explicit and straightforward manner. In following, inchworm robot, which is an articulated mechanism that performs a specific mode of crawling locomotion similar to the caterpillars, is modelled by a manipulator as a case study approach to part 1. In this problem, the required joint torques to achieve the locomotion pattern of one part of motion course are calculated.

Online publication date: Fri, 10-Apr-2015

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