| Popis: |
In this work, a kinematic model of our meshed-body worm robot, which moves by peristaltic locomotion, is built in MATLAB. The robot’s mesh-rhombus structure and its behavior in response to actuator stimulation are modeled and simulated. Changes in the robot’s body shape are modeled with some kinematic assumptions. Friction, gravity and internal forces are not directly modeled, however it was found that a single correction factor could match the simulation and hardware locomotion results. Based on this model, new control methods were found that reduce the slip of the robot as it moves via peristalsis. This simulation can be used as a tool to help design and control future mesh-based robots. |
