The Research And Implementation Of Climbing Snake-like Robot Based On Pose Planning

This thesis aims to develop a kind of snake-like robot with the capacity of climbing bridge cable, which can to be applied to detect the bridge cable health instead of regular artificial detection with the shortage of high operational risk, high cost, low efficiency, low accuracy and strong subjectivity. It has important significance and application value.Firstly, this thesis introduces the latest or the most representative snake-like robot and their current development at home and abroad, and design a snake-like robot with the characteristics of simple and practical architecture,stable and reliable system and superior locomotivity based on orthogonal connecting joints rod model and reconfigurable modular design, focuses on the presentation of joint module structure, actuator, skin, onboard battery, electric wire optimization and system design, etc. All these prior work provide a platform for future experimental research.Secondly, abstracts the pose according to locomotion of the biological snake such as lateral undulation, sidewinding, rectilinear crawling, concertina locomotion and rod climbing, and use the method of Curve theory and the D-H parameters for snake robot kinematics modeling, use control way of the parameterized sine wave that are based on pose curve and its simple low-dimensional parameters control the macro pose of snake-like robot. For the sake of verifying the feasibility and effectiveness of the orientation planning, static simulation analysis and dynamic locomotion simulation analysis on its poses are represented, furthermore analysis on the control parameters affecting on locomotion pose. These work provide experimental data for the locomotion of actual prototype.Then, uses ADAMS to build virtual prototype model of snake-like robot and virtual cable model, which relevant parameters and initial conditions of the simulation are close to the actual prototype and cable. By the control way previously adopted, analyzes the influence of different control parameters on the macroscopic shape of the virtual snake-like robot prototype, each joints torque and the locomotion situation of its spiral tumbling on the cable for the applicable maximum radius, and then explicitly makes sure the application scope of virtual snake-like robot prototype. Finally, the actual prototype of indoor and outdoor experiments based on the previous research is to verify its athletic locomotivity and feasibility.