Modelling of Snake-Like Locomotions

Felix L. Chernousko ()
Additional contact information
Felix L. Chernousko: Institute for Problems in Mechanics of the Russian Academy of Sciences

A chapter in Modeling, Simulation and Optimization of Complex Processes, 2005, pp 105-114 from Springer

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.

Keywords: Snake-like locomotions; Multibody systems; Dynamics; Computer simulation (search for similar items in EconPapers)
Date: 2005
References: Add references at CitEc
Citations:

There are no downloads for this item, see the EconPapers FAQ for hints about obtaining it.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-540-27170-3_8

Ordering information: This item can be ordered from
http://www.springer.com/9783540271703

DOI: 10.1007/3-540-27170-8_8

Access Statistics for this chapter

More chapters in Springer Books from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().