Research On Mechanism Motion Analysis And Control Of Underwater Snake Robot

Thanks to hyper-redundant mechanical structure,the snake robots are more flexible than huge w ROV when in the narrow marine engineering.Snake robots have the ability of changing shape to do intervention operation just like a manipulator.Therefore this paper are studying the underwater snake robot.First of all,a kind of orthogonal gear is designed as modular connecting component of the robot.Based on this,the assisted propulsion module,assisted steering and latency module,and general module are designed.The propeller propulsion system is used as the power source of the auxiliary module,and the steering gear is used to realize the relative movement between the modules.Finally,the 3-D model of the snake robot was established.Finite element analysis software is used to analyze the designed parts.Secondly,the first theorem is used to establish the kinematics and dynamics mathematical model of the snake robot moving in the horizontal plane.The dynamic model is separated by introducing a coordinate transformation.A simple model that is convenient for later stability analysis and control research is obtained through the local linearization of the separated model.According to the obtained kinematics and dynamics mode,the source of the thrust of the serpentine robot's forward motion is derived.Thirdly,the control function of robot winding motion is derived,based on the simplified serpenoid curve.The control function of robot is optimized by introducing an optimized function.The relationship between each parameter in control function and the forward speed of robot is obtained because of the simulation experiment.The turning and head-up movements of the robot are studied in order to enrich the gait of the robot.Finally,based on the D-H parameter method and the Monte Carlo method,the workspace of the robot is calculated when one end of the robot is fixed.The variables of each joint are analyzed when the robot is close to the valve of pipeline.The trajectory planning of robot is completed in this process.The images of each joint's angle,angular velocity and angular acceleration are obtained.