Design And Realization Of A Snake-Like Robot System With Spatial Joints

Snake-like robots have characteristics, such as high motion stability andenvironment adaptability. And these characteristics make them suitable to workunder special environments, such as submarine and underground ducts, unevengrounds. So they attract the attention of scholars all over the world and becomea new hot issue of research on robots. Under-actuated robots can cause thepassive joints to have the specific movements, thus realize natural movementssimilar to snake as a result of dynamic coupling. In this dissertation, we carryon kinematics analysis to the first snake-like robot with spatial mechanism. Andwe do research on Serpenoid Curve. Then we design and make a secondsnake-like robot with under-actuated joint. And we carry on the path plan to thetwo snake-like robots, and they realize the motion control.Firstly, this dissertation analyzes the spatial mechanism of the firstsnake-like robot and carries on its position analysis, velocity analysis andacceleration analysis. And the relations between the joint angle, angle velocity,angle acceleration and the corresponding servo angle, angle velocity, angleacceleration are obtained.Secondly, we choose suitable curve parameters for different motion modesby Serpenoid path plan. And we imitate wriggling motion, left swerve motion,right swerve motion, their processes and so on according to the real snake-likerobot.Thirdly, based on the analysis of movement of snake-like robot, motioncontrol is made to make the first snake-like robot realize more motion modes.And this dissertation introduces the system integration and the path plan of thesecond snake-like robot with elastic joint which can store energy.Finally, we use influence coefficient method and Newton-Euler method toanalyze the kinematics and dynamics of RPR mechanism, and obtain itskinematics and dynamics parameters. And we program to obtain the outcomeusing MATLAB.The theoretical analysis and experiments of this dissertation offerreferences to deeper research on the snake-like robots. And the under-actuatedsnake-like robot enriches the application of under-actuated theory.