Simulation and Modelling for Inchworm Dynamics

Abstract

Due to the great advances in computing tools, simulation has become an important component of most engineering disciplines. In this article, we simulate inchworm locomotion with friction only and variable mass. A theoretical model was developed and experimentally validated with a prototype. The results demonstrate a feasible innovative robot design for axial locomotion. The validated theoretical model can be later used to optimize the dynamic performance of this robot.