The Dynamic Modeling Of Snake-like Robot Applied In Bridge Cables Inspection

This paper studies the dynamics of the snake-like robot, as the following two problems:1、The forward dynamics of snake-like robot. According to the driving torque or force ofeach joint in a moment, we can calculate the movement posture of robot, includingdisplacement, velocity and acceleration of the joint;2、The backward dynamics of snake-likerobot. According to the displacement, velocity and acceleration of the joint at a timecorresponding to the trajectory of the snake-like robot, to solve the required torque or force.The purpose of this paper is to provide a basis for real-time, effective control of the snake-likerobot.Through the dynamic modeling, and adoptting the optimal controlling method, to makethe control of the snake-like robot achieving a good dynamic performance and the best indexThe main contents of this paper as following:(1) the design of snake-like robot’s body: I propose the modular design and thereconfigurable design principles, designing the joint module of the snake, using the digitalservo(HS7950TH) as the source of power.several commonly used way of module link wascompared.Select the body with orthogonal connection as the main way, head and tail with P-Rconnection as the auxiliary way. And design the multi-stage closed-loop motion controlsystem. And aiming at the difficulties in the control system, proposed the correspondingsolution. The study of snake-like robot’s dynamics is based on the designed snake body.(2) dynamic modeling of snake-like robot’s squirm gait: adopting the Newton-Eulermethod, focusing on the snake-like robot according to the dynamic modeling of squirm gait inSerpenoid curve. And in the dynamic model, in turn to calculate the drive torque of steeringgear,the friction of snake-like robot in the ground,the maximum torque for steering gearrotating.Finally, extend to the research on snake-like robot motion control.Then build thedynamic models of the single joint,designing the position tracking controller for it.Andsolving the joint’s position and velocity, and doing trajectory tracking simulation.(3) dynamic modeling of snake-like robot’s meandering gait: I combine the differentialmethod and the Newton-Euler method,analysising the friction and friction torque from thesurface.Then, work out the driving force of the steering gear.Finally,analysis the trajectory ofsnake-like robot’s movement.To solve the acceleration of the joint and angular accelerationalong the forward direction,in order to work out the velocity of the snake-like robot, thedisplacement and moving direction.