Research On Driven Design And Kinematics Of Reconfigurable Snake Robot

China's archaeological career began after the May 4th Movement in 1919.With generations of scholars long continuous efforts on archeology,a lot of historical mystery were solved which greatly enriched the ancient Chinese civilization and Chinese history and culture.The archaeological achievements refresh people's understanding of ancient Chinese civilization.The achievements show the tremendous contributions which the nation made to mankind and provide the detailed evidence of progress of human history.But with the deterioration of the environment,more gravies were robbed,it is necessary to protect the tomb and the cultural relic in it.The modern archeology developed almost 100 years we still fall behind the west especially on the application of the modern science and technology.So it is important to use the technology to help the archaeologist digging up the tomb.Of course it is significance on the cultural relic and archeology modernization.This thesis is about the robot pre-detection system belonged to the multifunction cultural relic protecting mobile experimental platform which is one of the national conservation equipment industrialization demonstration projects.In this paper,the work already has been done:First,in this paper the unit module had been design already.The robot has four unit module connect in series,coupling joints,with the track like the snake.The connection between the robot module through the quick connector and it is configuration and modular.The robot carries webcam temperature and humidity sensor and gas gathering equipment.Secondly,the kinematic model of the robot has been established and the motion analysis motion of the robot has been made.The robot obstacle navigation movement like across the gully,climb slopes across the gully climbing slopes and climbing stairs are also been made in this article,especially focuses on the across the gully and climbing stairs.This article gives the ability of the robot across the gully which does not have the parity with effectiveness and the maximum height of the robot can climb.The third,the robot kinematics simulation is simulated by the Adams.The robot is simulated in some classic environment such as solid ground,slopes,gully,stairs.In the simulation we approve the mechanism and the basic function of the robot is reasonable.We analyze the simulation result and make sure the obstacle navigation movement is reasonable.Lastly,giving the robot experiment,according to the characteristics of the robot,we developed a snake-like robot performance indicators,and give experimental testing methods.According the test the robot is meeting the requirement of the subject.