The Control And Joint Torque Analysis Of Snake-like Robot For Climbing

As a kind of bionic robot,the snake-like robot is the product of multi-disciplinary theory and technology, which has the characteristics of flexibility of movement as well as a strong adaptability to all kinds of complex environment. The robot possesses very important research significances, which can be applied to the scientific exploration, disaster rescue, hazardous environment and other fields. Towards application of the snake-like robot in the detection of bridge cable, this paper launches the research mainly includes the following aspects:Firstly, the paper introduces the current development of the most representative snake-like robot at home and abroad. In order to to apply the snake-like robot in the detection of bridge cable, designs a modular snake-like robot with orthogonal connecting joints. With emphasis on the design of the mechanical structure, and expounds the detail about the Joint connection of snake robot, the controller, the design of the communication system and PC interface.Secondly, the paper analyzes the typical snake-like robot motion control method,put forward a more concise, effective movement control function on the basis of the traditional motion control function, establishes kinematics model of snake-like robot based on Denavit-Hartenberg method, analyzes and simulate control function of sports in MATLAB and Adams based on the kinematics model, and introduce the experiments of snake-like robot prototype based on the previous research, to verify its feasibility.Then, the paper analyzes the movement control method of first joint in the process of helix rolling locomotion,build the space position model of the snake-like robot helix rolling locomotion, and analyzes the motion of first joint, uses the snake-like robot prototype to do the first joint movement experiments, verify the validity of the snake first joint movement control method.Finally, establishes the dynamic model and static mechanics model of snake-like robot climbing movement, solve the joint torque of helix rolling locomotion respectively, uses Adams to simulate and analyzes joint torque in the process of helix rolling locomotion. And analyze the joint torque optimization problems, proposes a joint torque optimization algorithm based on ant colony algorithm.