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Motion investigation of a snake robot with different scale geometry and coefficient of friction

Most snakes in nature have scales at their ventral sides. The anisotropic frictional coefficient of the ventral side of the snakes, as well as snake robots, is considered to be responsible for their serpentine kind of locomotion. However, little work has been done on snake scales so far to make a...

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Main Authors:	Md Lutful Huq, Naim, Khan, Md. Raisuddin, Shafie, Amir Akramin, Billah, Md Masum, Ahmmad, Syed Masrur
Format:	Article
Language:	English English English
Published:	MDPI AG, Basel, Switzerland 2018
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://irep.iium.edu.my/65032/1/65032_Motion%20investigation%20of%20a%20snake%20robot%20with%20different%20scale%20geometry%20and%20coefficient%20of%20friction.pdf http://irep.iium.edu.my/65032/13/65032%20Motion%20investigation%20of%20a%20snake%20robot%20%20SCOPUS.pdf http://irep.iium.edu.my/65032/19/65032_Motion%20investigation%20of%20a%20snake%20robot%20with%20different%20scale%20geometry%20and%20coefficient%20of%20friction_WOS.pdf http://irep.iium.edu.my/65032/ http://www.mdpi.com/2218-6581/7/2/18
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spelling	my.iium.irep.650322019-01-24T07:10:16Z http://irep.iium.edu.my/65032/ Motion investigation of a snake robot with different scale geometry and coefficient of friction Md Lutful Huq, Naim Khan, Md. Raisuddin Shafie, Amir Akramin Billah, Md Masum Ahmmad, Syed Masrur TJ Mechanical engineering and machinery Most snakes in nature have scales at their ventral sides. The anisotropic frictional coefficient of the ventral side of the snakes, as well as snake robots, is considered to be responsible for their serpentine kind of locomotion. However, little work has been done on snake scales so far to make any guidelines for designing snake robots. This paper presents an experimental investigation on the effects of artificial scale geometry on the motion of snake robots that move in a serpentine manner. The motion of a snake robot equipped with artificial scales with different geometries was recorded using a Kinect camera under different speeds of the actuating motors attached to the links of the robot. The results of the investigation showed that the portion of the scales along the central line of the robot did not contributed to the locomotion of the robot, rather, it is the parts of the scales along the lateral edges of the robot that contributed to the motion. It was also found that the lower frictional ratio at low slithering speeds made the snake robot motion unpredictable. The scales with ridges along the direction of the snake body gave better and more stable motion. However, to get the peg effect, the scales needed to have a very high lateral to forward friction ratio, otherwise, significant side slipping occurred, resulting in unpredictable motion MDPI AG, Basel, Switzerland 2018-04-28 Article PeerReviewed application/pdf en http://irep.iium.edu.my/65032/1/65032_Motion%20investigation%20of%20a%20snake%20robot%20with%20different%20scale%20geometry%20and%20coefficient%20of%20friction.pdf application/pdf en http://irep.iium.edu.my/65032/13/65032%20Motion%20investigation%20of%20a%20snake%20robot%20%20SCOPUS.pdf application/pdf en http://irep.iium.edu.my/65032/19/65032_Motion%20investigation%20of%20a%20snake%20robot%20with%20different%20scale%20geometry%20and%20coefficient%20of%20friction_WOS.pdf Md Lutful Huq, Naim and Khan, Md. Raisuddin and Shafie, Amir Akramin and Billah, Md Masum and Ahmmad, Syed Masrur (2018) Motion investigation of a snake robot with different scale geometry and coefficient of friction. Robotics, 7 (2). pp. 1-11. http://www.mdpi.com/2218-6581/7/2/18 doi.org/10.3390/robotics7020018
institution	Universiti Islam Antarabangsa Malaysia
building	IIUM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	International Islamic University Malaysia
content_source	IIUM Repository (IREP)
url_provider	http://irep.iium.edu.my/
language	English English English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Md Lutful Huq, Naim Khan, Md. Raisuddin Shafie, Amir Akramin Billah, Md Masum Ahmmad, Syed Masrur Motion investigation of a snake robot with different scale geometry and coefficient of friction
description	Most snakes in nature have scales at their ventral sides. The anisotropic frictional coefficient of the ventral side of the snakes, as well as snake robots, is considered to be responsible for their serpentine kind of locomotion. However, little work has been done on snake scales so far to make any guidelines for designing snake robots. This paper presents an experimental investigation on the effects of artificial scale geometry on the motion of snake robots that move in a serpentine manner. The motion of a snake robot equipped with artificial scales with different geometries was recorded using a Kinect camera under different speeds of the actuating motors attached to the links of the robot. The results of the investigation showed that the portion of the scales along the central line of the robot did not contributed to the locomotion of the robot, rather, it is the parts of the scales along the lateral edges of the robot that contributed to the motion. It was also found that the lower frictional ratio at low slithering speeds made the snake robot motion unpredictable. The scales with ridges along the direction of the snake body gave better and more stable motion. However, to get the peg effect, the scales needed to have a very high lateral to forward friction ratio, otherwise, significant side slipping occurred, resulting in unpredictable motion
format	Article
author	Md Lutful Huq, Naim Khan, Md. Raisuddin Shafie, Amir Akramin Billah, Md Masum Ahmmad, Syed Masrur
author_facet	Md Lutful Huq, Naim Khan, Md. Raisuddin Shafie, Amir Akramin Billah, Md Masum Ahmmad, Syed Masrur
author_sort	Md Lutful Huq, Naim
title	Motion investigation of a snake robot with different scale geometry and coefficient of friction
title_short	Motion investigation of a snake robot with different scale geometry and coefficient of friction
title_full	Motion investigation of a snake robot with different scale geometry and coefficient of friction
title_fullStr	Motion investigation of a snake robot with different scale geometry and coefficient of friction
title_full_unstemmed	Motion investigation of a snake robot with different scale geometry and coefficient of friction
title_sort	motion investigation of a snake robot with different scale geometry and coefficient of friction
publisher	MDPI AG, Basel, Switzerland
publishDate	2018
url	http://irep.iium.edu.my/65032/1/65032_Motion%20investigation%20of%20a%20snake%20robot%20with%20different%20scale%20geometry%20and%20coefficient%20of%20friction.pdf http://irep.iium.edu.my/65032/13/65032%20Motion%20investigation%20of%20a%20snake%20robot%20%20SCOPUS.pdf http://irep.iium.edu.my/65032/19/65032_Motion%20investigation%20of%20a%20snake%20robot%20with%20different%20scale%20geometry%20and%20coefficient%20of%20friction_WOS.pdf http://irep.iium.edu.my/65032/ http://www.mdpi.com/2218-6581/7/2/18
_version_	1643618816395051008
score	13.211869

Motion investigation of a snake robot with different scale geometry and coefficient of friction

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