The Control And Security Analysis Of Snake-like Robot For Climbing

The purpose of this project is to design a reliable snake-like robot with superiorperformance of climbing for bridge cable detecting. The main design thought, researchmethods and results of this paper are summarized as follows:In order to to achieve excellent climbing ability of snake-like robot, this paper discussesthe usual joint connections of snake-like robot, and designs a modular snake-like robot withorthogonal joints. In particular, the new design of rotary joint on the snake-like robot providesa new solution for the problem of the rotation of visal angle caused by the rolling locomotion.This paper analyzes some of the control functions of the orthogonal joints’ snake-likerobot and gives a series of control functions which are more efficient. Also, a static analysison Matlab and a dynamic simulation on Webot of this series of control functions are presented.Besides, an accurate kinematics mathematical model of the orthogonal joints’ snake-like robotis established with Denavit-Hartenberg method, and the rotary rule of the snake-like robot’shead is deeply studied. Moreover, the control method of the rotary joint on the snake-likerobot’s head is put forward, which is able to solve the problem of visal angle rotation withoutadding any extra sensors.The serial communications protocol Modbus is applied in the wireless communicationsystem between PC and the snake-like robot, which is able to enhance the reliability ofwireless communication. The monitoring mechanism of wireless signal between PC and thesnake-like robot and the monitoring mechanism of CAN bus between the master controllerand the slave controllers are developed to further strengthen the reliability of the wholecommunication system. And a unified communication packets between the wirelesscommunication system and the master-slave distributed communication system of CAN bus isdesigned to improve the efficiency of communication. Besides, the torque variation trend ofeach orthogonal joint during the helix rolling locomotion of pole climbing is deeply studiedon ADAMS, and the auxiliary device of the helix rolling locomotion of pole climbing isdesigned to avoid or at least to relieve the damage of falling. Further more, a close looprolling locomotion of pole climbing and the design of its auxiliary device are also presented.