Simulation study on the motion of a Canfield joint type-based snake-like robot

Abstract

© 2017, Executive Office of the Journal. All right reserved. A motion mechanism model based on Canfied joints was established by using the dynamic simulation software of the virtual robot experimentation platform (V-REP), and the trajectory in its motion space was observed and analyzed by adding joint degree constraints. The Canfield mechanism model was taken as a joint module to establish a snake-like robot model. The gaits of serpentine, turning and concertina gaits created by controlling the joint motion of the snak-like robot, were studied and analyzed through gaits experiments, with the aim of providing the feasibility of designing this type of snake-like robots.