When start is pressed, the simulations will start when the red ball turns green.
Please note that the calculations may take some time.
Abstract
This project extends research into flexible robotics through a collaborative, interdisciplinary senior design project. This project deploys the Moving Frame Method (MFM) to analyze the motion of a relatively high multi-link system, driven by internal servo engines. The MFM describes the dynamics of the system. Lie group theory and Cartan’s moving frames are the foundation of this new approach to engineering dynamics. This, together with a restriction on the variation of the angular velocity used in Hamilton’s principle, enables an effective way of extracting the equations of motion. The result in a 3D analytical model for the motion of a snake-like robotic system.