Experimental Analysis of Fixation Curves of Snake Robot Moving in the Pipe

Ivan Virgala^1, , Michal Kelemen¹, Martin Hagara², Erik Prada³ and Tomáš Lipták¹

¹Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia

²Department Applied Mechanics and Mechanical Engineering, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia

³ZTS VVU Košice, a.s., Košice, Slovakia

Cite this paper:
Ivan Virgala, Michal Kelemen, Martin Hagara, Erik Prada and Tomáš Lipták. Experimental Analysis of Fixation Curves of Snake Robot Moving in the Pipe. American Journal of Mechanical Engineering. 2016; 4(7):297-305. doi: 10.12691/ajme-4-7-13

Abstract

The research field of the snake robots provides a large scale of new information. The snake robots locomotion in pipes represents one of many complicated problems attracting the attention only in recent time period. During this study an experimental environment was designed corresponding to the pipe of U shaped cross section. This article describes a new innovative kinematic structure enabling both rotary and translational movements of links of a snake robot. Combination of these two robot constrains in constructions provides new possibilities of locomotion in a confined space. The main work contribution consists in the analysis of geometric configuration oflinks in static fixation according to their displacements and required actuators electric power. In the experiment withphysical model the method of digital image correlation was used because of the possibilities to take the movement of high dynamic range. Contribution of this experiment furnishes new information and new approach in solving the existing problem.

Keywords:
snake robot fixation curves digital image correlation

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