Analysis And Modeling Of Snake-like Robot Locomotion And Its Application In Bridge Cable Inspection

In recent years, research on the snake-like robot has been given great attention, and achieved great progress. Snake-like robot has higher motion stability and environmental adaptability than traditional biped robot and tracked robot. Therefore snake-lie robot can work well in particular environment such as pipe under water or ground, rough or muddy terrain, pokey crack between walls, weightlessness state on the other planet, and so on, it has widely application prospect. One of its new application is to inspect or maintain the cable of the large cable-stayed bridge while climbing up along the cable.In this article, we introduced the main motion form and basic organization structure of the snake-like robot, analyzed and modeled of snake-like robot motion on planar surface and space respectively, analyzed the stability of snake-like robot locomotion on the planar surface based on Poincare'maps. In the last we researched the application of snake-like robot on the large cable-stayed bridge's cable inspection based on the above research.Firstly, we made the dynamic and kinemics analysis about the snake-like robot motion on the planar surface, build its dynamic model and kinemics model respectively, revealed the control strategy of the snake-like robot. Then we make the serpentine locomotion as an example to do the experiment and simulation.Secondly, we analyzed and modeled the snake-like robot locomotion in the space based on the D-H method and New-Euler equations. We first make a kinematic analysis about the snake-like robot based on D-H algorithm, then made the dynamic analysis and modeling based on Newton-Euler equation. At last we set traveling wave locomotion as an example to do the experiment and simulation.Thirdly, we made the stability analysis of snake-like robot locomotion on the planar surface based on Poincare'maps. Based on the above analysis, we designed a simple controller for the locomotion model of the snake-like robot, and made the robot has 3 links for simplified the calculation, and analyzed its stability based on Poincare'map, proved that the locomotion of the snake-like robot is exponentially.Finally, we introduced the climbing locomotion in the space of the snake-like robot, make robot climb along the pillar to imitate the cable climbing locomotion,introduced the basic posture and control law of the snake-like robot climbing locomotion, and make a simple experiment based on the above analysis. At last wo gave a brief introduction of the problems that need to be solved to use snake-like robot do the inspection of the bridge cable.