Research On Joint Mechanism Design And Kinematics Of Reconfigurable Snake Robot

The biological snake of nature can survive in the desert,water,underbrush and forest.It has not only diverse habitat,but also diverse mode of motion.Also,because snakes' unique body structure is slender and no foot,robotics researchers have carried out research on biological snake.In the beginning of the study,the snake-like robot's study was fully modeled the structure and movement of biological snakes,with the development of snake-like robot's research,its optimized structure has become unified,the modular design of robot has become a trend.The motion of module connected joint affects the overall movement of snake-like robot,the design of joint mechanism has become a key element.The subject is conducted under the auspices of the country cultural relics protection equipment industry demonstration project "Robot pre-detection system developed",robot designed for the pre-detection of tombs indoor environments.The unique structural features of snake-like robot,has make the pre-detection mission of unknown environment possible.This paper mainly includes joint mechanism design of snake-like robot,the planning of robot motion movement,motion simulation and physical prototype experimental validation study.Firstly,according to the project design requirements proposed three design schemes,made calculation,comparison and analysis,and select the appropriate option.Make detailed design and analysis of key components for joint mechanism.Secondly,make planning for each motion movements of snake-like robot.The robot we designed is an initiative crawler snake-like robot,making motion planning for flat cornering,dumping after roll reset,climbing and passing through the pipeline mainly.Then,make dynamics simulation for the movement of the snake robot by using ADAMS virtual prototype simulation software,Verify the influence degree of motion configuration by the movement form and satisfaction of Joint torque.Finally,make study on typical operating environment performance indicators and evaluation methods to test,and test the robot prototype performance indicators,verify the performance of the snake-like robot.