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Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
This paper presents an extended kinematics and dynamics of the articulated tracked vehicles (ATV) used in many applications. The velocity of the front and the rear vehicle are firstly analysed and the kinematics of ATV is built, according to which the steer radius and the track velocity can be obtained. Then we analyse the force and moment acting on the ATV running on the firm ground and the soft...
This article describes the control algorithm and software implementation of astronomical tracking based on the mechanical analysis for Five-hundred-meter Aperture Spherical Telescope(FAST) that is being built in Guizhou province of China, which aims to help astronomers resolve questions in cosmology. On the basis of position and attitude feedback algorithm of cable driven parallel robot, the control...
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