Effect of Friction Models on Snake Robot Performance

摘要

In this paper, performance of a 16 link snake robot in serpentine locomotion using two friction models is investigated. Both Coulomb and viscous friction models are considered. Snake performance as defined by ratio of energy consumption to distance travelled is used as optimization goal. Key kinematics and dynamics parameters are identified. Dynamics and kinematics equations of snake robot are used to perform simulation and obtain results. Taguchi method is utilized and orthogonal array table is constructed. ANOVA technique is used to analyze the statistical significance of kinematic and dynamic parameters. Using Taguchi method optimum parameter settings effecting performance of snake robot are determined. The snake robot is also modeled in WEBOTS software. It is shown forward motion is obtained. Index Terms—Snake-like robots; Taguchi method; DOE; Energy consumption; Serpentine gait; Kinematics; Dynamics.