Research Of Kinematics And Dynamics Of Snake Robot

This project uses the snake robot which is equipped with a variety of sensors such as cameras and hall sensor as a mobile platform for bridge cable detection. Therefore, this paper developed a snake robot which was based on orthogonal joints and did the research of its kinematics and dynamics. In addition the robust trajectory tracking control of snake robot was studied and the controller was designed.The content of this article includes:(1) Design of the system of snake like robotThis paper used the modular idea to design the system of snake like robot. It included the selection of the large torque actuator, the design of U type connecting rod and the convex back cover, the design of the skin and battery etc. And this paper also designed the communication system and the mechanical structure to ensure the reliability.(2) Analysis of the kinematics of the snake robotThis paper chose the POE formula which is based on Screw theory to build the kinematics model of snake robot. Then it studied the internal relationship between D-H method theory and Screw theory in the kinematics modeling. To solve the inverse kinematics problem of snake robot, this paper improved the genetic simulated annealing algorithm. And it wrote a program and did the simulation under Matlab to verify the feasibility of the algorithm.(3) Analysis of the dynamic and design of robust trajectory tracking controller of snake robotThis paper selected the Lagrange method to establish the dynamics model of snake robot. And it established a three-dimensional simulation model of snake robot under the multi-body system dynamics simulation software ADAMS, then did the simulation and analyzed the experimental data of the dynamic. In addition the trajectory tracking control is studied, and a robust trajectory tracking controller is built. And the simulation is carried out by using matlab/Simulink.(4) Experiment of the snake robotThis paper verified all kinds of movement of snake like robot, and focused on the further improvement of the snake like robot and provided the suggestion.