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Modelling of Snake-Like Locomotions

In: Modeling, Simulation and Optimization of Complex Processes

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  • Felix L. Chernousko

    (Institute for Problems in Mechanics of the Russian Academy of Sciences)

Abstract

Summary Multibody mechanical systems consisting of several links are considered which can perform snake-like locomotions along a horizontal plane in the presence of dry friction between the system and the plane. It is shown that, under certain conditions, these systems can perform longitudinal motions in the plane. Periodic motions are designed and analyzed. For mechanisms with two or three links, these periodic motions consist of slow and fast phases. For multilink mechanisms with more than four links, slow wavelike motions are possible. Displacements, the average speed, and the required control torques are evaluated. Theoretical results are confirmed by the computer simulation of the nonlinear dynamics of the multilink systems as well as by the experimental data.

Suggested Citation

  • Felix L. Chernousko, 2005. "Modelling of Snake-Like Locomotions," Springer Books, in: Hans Georg Bock & Hoang Xuan Phu & Ekaterina Kostina & Rolf Rannacher (ed.), Modeling, Simulation and Optimization of Complex Processes, pages 105-114, Springer.
    • Handle: RePEc:spr:sprchp:978-3-540-27170-3_8
    DOI: 10.1007/3-540-27170-8_8
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