Underactuated Snake Robot Design And Research

With the development of technology and human progress. Robotic technology is developing very rapidly, a variety of robots have become available, and been widely used. Now the robot not only to replace the traditional human heavy and simple repetitive work,but also to get more and more close to the "person" concept. It has turned to interplanetary exploration, military reconnaissance, underground pipes, disease treatment, emergency disaster relief and other non-structural environment.It is because of the changes in the direction of research, people began to research the biomimetic robots, so the first walking robot was born.Although the walking robot has a strong adaptability and ability to have lateral movement, but its relatively low stability of the velocity and the movement are the fatal flaws. So the people started paying attention to nature movement of animals without limbs, because it has a good ground campaign mode adaptability and stability of motion, imitation of snake-like robot in this context was born.This dissertation to streamline the structure, to reduce weight, improve efficiency and reduce energy consumption of snake-like robot, on the basis of Existing manipulator in the laboratory and Underactuated theory,designed a new structure for the form of snake-like robot. According to the modular design of the snake-like robot to complete the structural design, and the corresponding parts of the three-dimensional model.On the basis of the friction disc movement transmission mechanism model, Completed the module underactuated snake-like robot motion modeling,then Carried out to prove their non-integrity and controllability. from two angles of Power and control to determine the under-actuated snake-like robot module a reasonable number of joint. Finally, through the simulation analysis show the kinematic model of accuracy and controllability.Then to carry out kinematic analysis for Underactuated snake robot, combination of Professor Hirose's Serpenoid curve was winding its movement trajectory planning, and then verified by simulation of the model can be completed in accordance with the planned trajectories snake winding forward movement, which shows that this transmission mechanism to the friction disc movement based on the new structure for snake-like robot manipulator illustrate the design theory can be used for the design of snake-like robot.Finally in accordance with the Kane equation modeling steps to complete the under-actuated snake-like robot system dynamics modeling, to follow more reasonable and feasible control trajectory planning algorithm for a foundation.