2A2-L06 V-REP based dynamic simulation and analysis of a spiral -propulsion robot on wetlands(Mobile Robot with Special Mechanism)

Abstract

The double-spira1-propulsion robot has been proposed to support field survey activities in wetlands. The robot consists of two pairs of spiral pipes and eight 4-DOF manipulaters whose grippers handle the spiral pipes. The kinematic relations among manipulater's components were cstablished through D-H method. The three-dimensional model of the manipulator is established in a dynamic simulation software. The process efthe manipulator gripping spiral is simulatcd. Thejoint pesition andjoint internal position error eurves are obtained. Those results shew that the proposed manipulator possesses high eontrollability The torque on x, M z-axis of revolute joint2 andjoint4 are also measured by torque sensers for detailed design in future work.