Locomotion Capability Of Snake-like Modular Robots Based On GZ-I Module

With the rapid development of human life and our society economy, the robotics technology is more and more important, so robotics has become the necessary equipment in all areas of society and it can not be replaced. Snake-like robot adopts a modular reconfigurable design concept. According to environmental conditions, it can be combined into different configurations to complete the corresponding tasks, very suitable for the job in unknown environment. As a branch of robot, the modular snake-like robots hold out three promises: versatility, robustness, and low cost.In this paper, the research mainly focuses on the following aspects: the mechanical structure of snake-like robot, control theory, control algorithm and control system design, locomotion capability and locomotion gait. The main work and results of the paper are as follows:1. The paper analyzes the research status and structural features of typical snake-like robot in the world, and presents the value of studying modular snake-like robots. The paper presents a module GZ-Ι, which has one degree of freedom and three connecting ways. Based on the module GZ-Ι, we can construct a pitch connecting robot, a pitch-yaw connecting robot and so on. The modular design greatly improves the maintainability, and with a variety of flexible configurations, also greatly reduces the development cost of snake-like robot.2. Analyze the crossing obstacle capability of the GZ-I module, on the basis, analyze climbing obstacle capability of the snake-like robot using three different methods, adjust the center of gravity to improve the climbing ability. And then analyze the climbing steps in detail. In the end, verify the snake-like robot's climbing ability by experiments.3. Construct a pitch connecting modular snake-like robot and a pitch-yaw connecting modular snake-like robot, and analyze the locomotion of them and the principles of moving in detail, and control the locomotion of the snake-like robots in reality. Mainly analyze the locomotion of the two modules and more modules pitch connecting modular snake-like robot respectively, and analyze a simple mathematical model on the motion process. Analyze and compare the angular displacement, phase difference, the number of modules effect on the motion displacement and the locomotion gait during the passing process of the body wave. Concluded that the snake-like robot composed of multiple modules has more stable locomotion gait, the body wave is relatively smooth, and has a stronger adaptability to the environment.4. Analyze the snake-like curve serpenoid which is application on most snake-like robots. Analysis of the different control parameters how to impact on the shape of snake-like curve; selecting reasonable snake-like curve parameters for different movement patterns,and selecting the most suitable motion parameters when snake-like robot winds forward,turns left and turns right by MATLAB simulation experiments.Also selecting reasonable control parameters to plan one-dimensional motion sine curve and turning motion curve of the snake-like robot in the paper. Carried out experiments on snake-like robot model, show that the snake-like robot can successfully achieve one-dimensional sinusoidal locomotion and turning left and right locomotion, so the modular structure of the snake-like robot is reasonable and feasible.In this paper, by theoretical and experimental analysis, will provide some reference values for the future technology of modular snake robots; especially will provide some help for the technology of domestic modular robotics.