Studying the physical characteristics of the snake robot motion based on the “bioloid premium kit” construction

Abstract

This article examines the physical characteristics of the movement of a snake robot. The main purpose of this work is to develop an algorithm based on the study of the physical characteristics of the movement of a snake robot, which will allow movement in various environmental conditions, both an industrial robot manipulator and a mobile robot. In the course of the work, the equations of motion of the snake robot on various surfaces were obtained. It is established that the snake robot is an open kinematic chain, the elements of which are interconnected by five or more kinematic nodes of rotation based on solving direct and inverse kinematics problems and calculating the position of the robot block in a given orientation. Based on the study of the physical movements of snakes, a proprietary algorithm for the movement of a snake robot has been developed. A prototype snake robot based on the ROBOTIS BIOLOID Premium Kit was assembled and tested on seven different surfaces. The created high-speed prototype consists of eleven blocks and a CM-530 controller without wheels and ensures high smoothness of movement compared to analogues thanks to the use of the developed algorithm.