Figures index

From

Experimental Analysis of Friction Effects Affecting the Snake Robot Segment during Rectilinear Locomotion

Ivan Virgala, Alexander Gmiterko, Peter Frankovský

American Journal of Mechanical Engineering. 2013, 1(7), 412-416 doi:10.12691/ajme-1-7-52
  • Figure 1. Free body diagram of moving segment during snake robot rectilinear locomotion
  • Figure 2. Average velocity of snake robot for different numbers of segments
  • Figure 3. Propulsive force of snake robot
  • Figure 4. Optimal number of segments for maximum average velocity of snake robot
  • Figure 5. Velocity of snake robot segment with different frictions
  • Figure 6. Measuring of friction on snake robot LocoSnake
  • Figure 7. Dry friction between snake robot segment and surface
  • Figure 8. Viscous friction (presence of oil) between snake robot segment and surface
  • Figure 9. Viscous friction (presence of lubricant) between snake robot segment and surface
  • Figure 10. Displacements of snake robot segment moving on particular surfaces
  • Figure 11. Layer of lubricant before snake robot segment
  • Figure 12. Propulsive force affecting moving segment for different kinds of surfaces
  • Figure 13. Electric power consumption analysis also shows that for all three kinds of friction the system expends the same power.