Martina Vacková

Modeling of a snake-like robot rectilinear motion and requirements for its actuators

The paper deals with a rectilinear motion of a snake-like robot. At first the various kinds of friction models are discussed and then the mathematical model of rectilinear snake-like robot locomotion is established. Considering the isotropic Coulomb´s friction model the average velocity of N-mass system is derived. Further the average velocity dependence on the number of used masses N is described through the graph. From the equation of average velocity there is the optimal number of masses N established. In the paper there are two alternative sequences of motion considered and subsequently through the simulations they are compared to each other. Finally the requirements concerning the linear actuator between two masses are described.

Algorithm for determining static characteristic on electromagnetic actuator for rectilinear locomotion structure of a snake-like robot

This work deals with the determination of static characteristics of electromagnetic actuator. Electromagnetic actuator is designed as drive for rectilinear locomotion structure parts of snake-like robot. Static characteristics are determined by the solving of a non-linear problem of the actuators magnetic circuit in a ferromagnetic cores particular positions and at the different fluxional rates of the coil. Static characteristics are represented by a L induction, magnetic force affecting ferromagnetic core Fm. For the calculation of the coil induction L is used the power of magnetic field. Magnetic field power is calculated by using Maxwell stress tensor and differential formula by a numeric derivation way.

Intelligent in-pipe machine adjustable to inner pipe diameter

The paper concerns to area of in-pipe locomotion. Traditional conceptions of in-pipe machines tend to wheels slipping or self-blocking. Several design stages of improved in-pipe machine are shown. Design of in-pipe machine coming from conception of computer controlled electromechanical device. Final design solution will be able to locomote inside pipe with variation of inner diameter in range from 100 to 200 mm with automatically adjustment to pipe diameter.

Dynamic model of vehicle with two coaxial parallel wheels

The paper deals with the dynamic model of vehicle with two coaxial parallel wheels. From the existing dynamic model is generated the mathematical model. Based on the derived equations, there is created the block scheme within the Matlab/Simulink background program and from that the course of the wheels path and the same the pendulum deflection depending on the time are described.

Dynamic Analysis of the Two-Mass System to Imitate Rectilinear Motion of a Snake

Dynamic Analysis of the Two-Mass System to Imitate Rectilinear Motion of a Snake A few previous decades the researchers and the designers started to copy the animal motion to the mechanisms. The principal motivations of the snaky locomotion are the environments where the traditional machines are not applicable due their dimensions or shapes and where the accessories like the wheels or the legs fail. The paper deals with the dynamic analysis of the two-mass system imitating the snake rectilinear motion on the level surface. Within the research there were made various modifications of the system and through the simulation was verified the behavior of the kinematic parameters. Based on the mentioned displacements and the speeds depending on the time it is possible to determine the optimal parameters of examined dynamic system.

Kinematic analysis of snake-like robot using obstacle aided locomotion

This paper deals with an obstacle aided locomotion of snake-like robot, which is the actual problem in the field of mechatronics. Because of many snakes using this kind of locomotion, the first step and hereby the most important is a kinematic analysis. The Denavit-Hartenberg convention was applied for this purpose. By this method the position vector components of each link according to basic coordinate system placed into any obstacle was assigned. Kinematic problem is a stepping-stone to the dynamic solution.

Dynamics and Control of a Snake Robot Rectilinear Motion

The paper deals with a snake robot rectilinear motion on the flat surface. At first, biological snake rectilinear motion observed in the nature is introduced. Based on this the transformation of biological snake body to the mechanical system is established. After pattern gait design and motion conditions introduction the mathematical model of snake robot rectilinear motion is established. Subsequently an average velocity of motion is derived. From the equation of average velocity the optimal number of masses is derived in order to maximum system velocity. The average velocity courses for different pairs of materials in the graph are shown. In the next section a feedback control system for masses displacement is introduced. For this purpose PD regulator is used. In conclusion the summary of study and simulation are done.

Using of bond graph for mechatronics systems

This paper deals with the modeling of vehicle with two coaxial parallel wheels based on the principle of an inverted pendulum (MWP) by using the bond graph method [1]. The article gives description of bond graph method, which allows a deeper insight into the internal dynamic relations system, namely its internal interactions.