2A2-L06 V-REP based dynamic simulation and analysis of a spiral -propulsion robot on wetlands(Mobile Robot with Special Mechanism)

概要

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The double-spiral-propulsion robot has been proposed to support field survey activities in wetlands. The robot consists of two pairs of spiral pipes and eight 4-DOF manipulators whose grippers handle the spiral pipes. The kinematic relations among manipulator's components were established through D-H method. The three-dimensional model of the manipulator is established in a dynamic simulation software. The process of the manipulator gripping spiral is simulated. The joint position and joint internal position error curves are obtained. Those results show that the proposed manipulator possesses high controllability. The torque on x, y, z-axis of revolute joint2 and joint4 are also measured by torque sensors for detailed design in future work.
一般社団法人日本機械学会の論文
2011-05-26