Dynamic Modelling of a Geometrically Non-uniform Elastic Beam to Mimic Snake Swimming Undulation - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Dynamic Modelling of a Geometrically Non-uniform Elastic Beam to Mimic Snake Swimming Undulation

Résumé

In this paper, we present the dynamic modelling of a geometrically non-uniform beam to predict anguilliform undulation of a bio-inspired flexible snake robot. The snake robot is proposed as a scientific tool and designed to fluidly mimic various anguilliform gait pattern. The snake skeleton consists of a series of compliant vertebrae with a variable stiffness along the body. An approach based on the finite element method coupled with an optimization problem, and solved using genetic algorithms method is presented to predict the snake robot skeleton undulation. The snake robot was approximated with an equivalent cylindrical beam made of a series of elements (vertebrae). The internal damping and stiffness were identified as a result of the optimization problem to retrieve similar ripple cone. Comparison between experimental robot undulation, and simulations is performed. It was demonstrated that the model is adapted to predict the real undulation of the a dead snake and as well as approximate the one of the snake robot undulation.
Fichier non déposé

Dates et versions

hal-04080395 , version 1 (24-04-2023)

Identifiants

Citer

Elie Gautreau, Xavier Bonnet, Marc Arsicault, Med Amine Laribi. Dynamic Modelling of a Geometrically Non-uniform Elastic Beam to Mimic Snake Swimming Undulation. MeTrApp 2023: New Advances in Mechanisms, Transmissions and Applications, May 2023, POITIERS, France. pp.359-368, ⟨10.1007/978-3-031-29815-8_35⟩. ⟨hal-04080395⟩
13 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More