Mechanical Design And Kinematics Research Of Bionic Snake-like Robot

Bionic robot is an important direction of robots development,which can be divided into the terrestrial robots,the air robots and the underwater robots according to their working conditions.Snake robots have become an important research field with its wide range of applications.Their flexible body and narrow cross-section provide good motion ability in challenging and unknown environments.A wide range of applications including medical surgery,industrial fields,navigation,rescuing,and military detection has been demonstrated,which has become a hot topic in the field of robotics.The mechanism of the snake robots typically consists of serially connected joint modules capable of bending or rotating in one or more planes.Themany degreesoffreedomofsnakerobotsmakethemdifficultto control,which cause that snake locomotion and its parameter optimization have become the focus of the study.A snake robot of five-module planar motion was designed and manufactured.This thesis is an attempt to contribute to the understanding of snake locomotion by employing the dynamic models based on Serpenoid curve and the Serpentine formula.The experiments of the snake robot locomotionwere simulated by the motion simulation technique based on Webots software.The new compensation parameters were proposed to be optimized,which removed the problem of motion deviation.Finally,the bionic principle of snake locomotion was applied to an underwater robot.The mechanism and control design of the bionic ray robot such as an underwater snake-like robot were provided.This thesis mainly completed five aspects of research as follow.(1)A reconfigurable modular snake-like robot was designed,whichwas divided into two parts of the skeleton and the shell.It is a simple structure,easy fixing and unfixing.According to the different connection modes of the module,the movement ability of the robot can be changed.A planar motion snake robot was designed and manufactured to provide the following experiments.(2)The connecting rod model based on serpentine robot was established to analyze its force and motion.The formula of Serpenoid curve and Serpentine motion were deduced.And the two equations were numerically simulated in MATLAB software to analyze the influence of parameters.(3)The simulation of snake robot locomotion of Serpentine formula was carried out through snake robot model based on Webots software.The influence of each parameter and control experiments on the locomotion motion was analyzed.(4)The problem of the direction deviation of the snake robot in changing the shape was provided,which caused the finding of an initial condition of joints in the Serpentine motion formula.A new compensation parameter adding in this formula would solve the problem of direction deviation,which was verified by Webots simulation and locomotion experiments.