Simulation And Control Of A Snake-like Robot Locomotion In Water

Snake-like robot by means of biological snake formed millions of years of evolution external body structure, to adapt to the complex unstructured environment has a natural advantage. But unique snake-like robot body structure brings more flexibility and motion space at the same time, also designed for the researchers of snake-like robot motion control model presents huge challenges.Compared to terrestrial snake-like robot, due to the complexity of the height of the underwater environment and the influence of underwater communication delay, the control model of snake-like robot is made for design, optimization of the model parameters are more difficult. Because in the case of not fully understand the gait features, not directly to control the robot model is used for underwater experiment of a prototype, therefore, how to realize the high efficiency, high mobility in water environment control of snake-like robot is a difficulty in the field of underwater snake-like robot research, this paper conducted the research for this problem:1. The theoretical analysis of force on the underwater snake-like robot movement. Based on snake-like robot joints more super redundancy and the characteristics of modular, underwater motion robot and the interaction of the water, based on the multi-rigid-body dynamics modeling method of underwater robot motion model is established.2. Build underwater motion simulation analysis system. Based on the actual data of the snake-like robot physical prototype can accurately simulate the underwater virtual prototype model of plane and space movement.3. The simulation analysis of typical exercise performance, and experimental verification is performed.According to analysis of underwater snake-like robot motion, winding or surface movement, turning movement and movement characteristics of underwater snake-like robot is established and the mathematical model of space motion control of planar movement. And in the simulation system of control model, simulation analysis of the relationship between control parameters and the movement performance, Aiming at speed, based on the actual structure of the robot prototype parameters as constraint, optimized winding motion control model. Finally, through the simulation analysis system transplanted validation and optimization control model into corresponding experimental verification on the robot.In conclusion, this article through the establishment of dynamic model of underwater and build simulation analysis system, validation and optimization of the typical control model, the experiments show that, under the control model of the snake-like robot can meet the requirements of underwater high efficiency, high mobility movement.