Design and Implementation of a Power-Dense, Modular, and Compact Serpentine Articulated Tail

Abstract Inspired by the many examples in nature, serpentine robotic tails can provide a means of expanding the feasible motion and general dexterity of mobile robots. Previous research has proven the effectiveness of robotic tails for the purpose of inertial reorientation through simulation of both simple pendulum and complex serpentine tails. There have been various experiments involving the integration of pendulum tails with a mobile base conducted to date. However, until now integration of more complex tail models has proven difficult. This paper presents an updated design of the existing Roll-Roll-Revolute Tail (R3RT) which can be readily integrated with a mobile base. The new design improves on the power density as well as form factor of the original design. Therefore, a design that is both more effective and easier to integrate with a mobile robotic base is synthesized. Kinematic and dynamic analysis are conducted to generate design targets. These targets are then met through the development of a power-dense actuator and evolution of a modular tail layout. CAD models of the new tail design integrated with the reduced complexity quadruped base are also reviewed. Finally, results of initial testing to prove the performance of the actuators are presented.