Mechanism Design And Locomotion Research Of Snake-like Robot

As a high redundancy system with high dynamic stability and environmental adaptability, disaster rescue robot is widely used in collapsed buildings for disaster search and rescue work, military reconnaissance, planetary exploration and other harsh environments. Because snake-like robot movement pattern is flexible, to which extensive attention are paid from scholars at home and abroad, snake-like robot becomes new hot spot area of robotics research.First of all, this paper analyzes the special biological structure of natural snake body. According to natural snake's biological structure characteristics, Snake-like robot adopts a modular mechanical design. Module connections between the cells linked by bevel gears, not only reduce the weight of the snake body, but also make the connection between the each module more flexible, and greatly enhance the maintainability of the snake-like robot.Secondly, the thesis analyses snake-like robot motion gait and carefully studies the three-link and multi-link movement of gait. By comparing the course of the campaign in various joint angular displacement, angular velocity and other parameters, it is convinced that the sporting performance of the multi-link movement gait is relatively stable and has stronger environmental adaptation ability. In succession, a detailed plan is established for Snake-like curve track, selecting reasonable snake-like curve parameters for different movement patterns of snake-like robot, and selecting the most suitable motion parameters when snake-like robot winds forward, turns left and turns right by MATLAB simulation experiments. In the end, through experiment does this thesis verifies the validity of gait movement.Finally, in order to study the motion characteristics of snake-like robot further, through the derivation of snake-like robot dynamics equation, its dynamics model is established, and the driving torque identities of its joint are described by MATLAB simulation when snake-like robot promotes the process of movement. Accordingly, they provide theoretical basis for selection of motor and for improving the stability of motion in the snake-like robot system.In a word, this design of snake-like robot system with flexible movement and easy control, which provides the urban disaster-search and rescue activities with high-efficiency and secure equipments in further, apparently, has practical significance.