Brachiation Robot Dynamics Modelling

摘要

Brachiation is defined as a kind of suspended movement in which the movement is done by engaging the hands with the environment. Brachiation robot is designed inspired by the movement of gibbons and monkeys to move in required environments by walking with the help of the upper body. In this research, first, different configurations are compared with each other in terms of working space and the appropriate structure is selected. Then, with the help of optimization, the optimal dimensions of the robot are determined. By completing the design, we try to obtain an explicit dynamic model of the arm measuring robot. In this dynamic model, due to the involvement of the hands with the environment, there are restrictions that we remove from the system using the orthogonal imaging method. The extracted dynamic model is verified with the help of software modeling in several scenarios to ensure the accuracy of the arm measuring robot model.