Reserch On Motion Control And Implementation Of Multi-Link Snake Robot

Specialized robot is an important development of direction of modern robot. Among that, snake robot is a potential branch. Snake has a wide distribution in nature. They can be found in diverse terrain. Their movement has a special adaptability. It is of great value to gain such adaption to the terrain and it should be helpful to the development of the ability to move the robot. And it’s describe our research from five aspects, motion theory, structural design, software design, simulation and experimental of snake robot.In the motion theory section, it is start with wriggle of inchworm, and a common rule for wriggle of snake robot is found. The idealism of the rule is studied. Base on which, the ideal curve of wriggle is found, and its dynamics is studied. Base on the wriggle motion, the control method of helix motion is found, and its’mathematic model is learn preliminary. Beyond that, the roll motion is found.In the structure design section, it’s started with the most commonly used structure, and the cardan joint is chosen. Body segment is made up of power module and joint arm. The power module is make up of main mounting base, glossy mounting base, L shape mounting base. The joint arm is used to link the adjacent power modules.In the circuit design section, the logic structure of control circuit is a chain structure. Each body segment can only communicate the adjacent body segments. And each body segment contains a controller which is a MCU, power which generate by two servos, a battery which is control by the head segment.In the software design section, the software in universal body segment mainly contains the transmission controlling system based on USART, voltage monitor system, motion control system. There is no motion control system in the software in head segment, but there are power control system and transmission controlling system based on NRF24L01 more than universal body segment.The last section is the simulation and experiment. The simulation software is Pro/E. the simulation of the motions is done, and they are contrast to the experiment of the corresponding motion of snake robot we realized.