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Prada, E., Kinematic analysis of planar snake-like robot, little doctoral exam thesis. Faculty of mechanical Engineering, Technical university of Kosice, Kosice, 2012.

has been cited by the following article:

Article

Kinematic Analysis of Planar Snake-like Robot Mechanism Using of Matrices Formulation

1Technical University of Košice, Department of Applied Mechanics and Mechatronics, Košice, Slovakia


American Journal of Mechanical Engineering. 2013, Vol. 1 No. 7, 447-450
DOI: 10.12691/ajme-1-7-59
Copyright © 2013 Science and Education Publishing

Cite this paper:
Erik Prada, Alexander Gmiterko, Tomáš Lipták, Ľubica Miková, František Menda. Kinematic Analysis of Planar Snake-like Robot Mechanism Using of Matrices Formulation. American Journal of Mechanical Engineering. 2013; 1(7):447-450. doi: 10.12691/ajme-1-7-59.

Correspondence to: Erik  Prada, Technical University of Košice, Department of Applied Mechanics and Mechatronics, Košice, Slovakia. Email: erik.prada@tuke.sk

Abstract

The article deals with the kinematics of a three section snake-like robot. In the introductory part of the article, the main advantages and application possibilities of a snake-like movement in practice are mentioned. In the next chapter, the mathematical model of a direct kinematics of a three link snake-like robot was created. It also includes the fourth, variable “virtual” link. Mathematical model was numerically confirmed in the conclusion. Homogeneous transformational matrices were used for the creation of mathematical model. Subsequently, positional vectors of centers of mass all links were expressed. For the derivation of velocity vectors centers of mass, the numerical methods with the application of differential operators were used. In the conclusion of the work, the graphical presentation of the centers of mass positions is illustrated. They were realized in the Matlab 2012 programming environment.

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