Design And Research Of Multi-structure Actuator For Snake-like Robots

The snake-like robot has many advantages of the biological snake,which can help people to complete complex work,and can be applied in the fields of emergency rescue,forestry,military,civil and medical.It is an important branch in the field of bionic robot research,divided into two research directions of rigidity and software.At present,snake-like robots have low fitness when they interact with the external environment,and the popularity of applications is very low.For example,it is difficult to show a flexible change posture when working in a complex environment such as rescue and rescue,shrub land,and the like,and it has not been widely used.In view of this,this paper has carried out a variety of structural actuator design and research on snake-shaped robots.The main research contents are as follows:(1)The research status of three types of serpentine robots(rigid,rigid-flexible,flexible)are introduced.The structure and movement form of the biological snake spine are preliminarily analyzed,and the basic structure and driving mechanism of skeletal muscle are briefly analyzed.The principle of related intelligent soft materials,sensors and soft actuators is described.The hydrogel soft materials are investigated as the basis for the design of the subsequent flexible serpentine robots.The three-dimensional model interconnected device technology is summarized.(2)For the three types of serpentine robots,their structural design and actuator design were carried out.Firstly,in the aspect of rigid serpentine robot,the connection method of orthogonal joint structure is adopted to realize the reliable connection of snake head,snake body and snake tail,and the related control method is studied by means of motor actuator power supply.Then the rigid structure design was researched on the rigid-soft snake-shaped robot,and the lateral contraction function of the snakeshaped robot was expanded.The design of the feedback control method was carried out by using the two-dimensional spot position detection sensor.It lays a solid foundation for the design of flexible snake-shaped robots.(3)For the rigid snake-shaped robot,the APP software was developed,and Bluetooth,WiFi and control system were used for communication to realize real-time monitoring of the snake-shaped robot,control of the motion gait,and fusion of multiple sensors.It has accumulated experience for the design of the control platform of the subsequent soft snake robot.In addition,VoxCAD software is used to analyze the simulation movement of single fiber,and the simulation work of the actuator model is focused on.The results preliminarily verify the feasibility of designing the actuator with flexible materials.In order to improve the performance of the snake-shaped robot,some preparatory work was done in the early stage.In the research direction of snake-shaped robots,combined with the development of related technologies such as intelligent soft materials,this paper proposes a new drive design concept,and proposes a higher pursuit goal for the development of software robots in the direction of bionics combining structure and intelligent materials.