Design And Motion Simulation Analysis Of Snake Robot Based On Wire-driven

With the overall improvement of the world economic level,the continuous advancement of science and technology and the continuous expansion of technology,robot technology has ushered in a golden era of rapid development.Bionic robots have also gradually attracted the attention of many experts and scholars.The snake robot is a representative of the bionic robot.Because of its unique mode of movement,it has important practical value in the application field of society and life.The snake robot is a kind of high-redundancy motion robot which is connected by several identical modules in turn.In many complex terrains,it can adopt the flexible and varied ways to complete the movement.It has good stability of movements and strong adaptability to environment,which has broad application prospects in military,medical,disaster relief and other fields.In order to enhance the flexibility of the snake robot,a kind of wire-driven snake robot is proposed in order to better avoid the obstacles of multiple complex shapes,and to improve the efficiency of movement.Firstly,this paper introduces the development status of snake robots at home and abroad,and expounds the advantages and disadvantages of modern snake robots.According to the current development trend of snake robots,this paper proposes the structure of snake robots.The use of pull-wire drive breaks the traditional motor-driven design concept.Through the study of the skeleton structure of the biological snake,a modular,serial connection structure is designed.Through the comparison of the commonly used joint structures,cross-orthogonal joints suitable for robots developed in this paper were selected.Then the motion of the wire-driven snake-shaped robot was designed based on the movement of the creature snake.The main research object is the most common plane motion in many sports methods.The kinematics model is established by the D-H method,and the kinematics equations of the plane motion are derived using the Serpenoid curve.The kinematics control equations of the kinematics were simulated using MATLAB software to analyze the effects of various parameters on the motion in the control equations.Finally,the main content of the study was plane motion.The dynamic model was established by the Lagrange method.The dynamic analysis of the wire-driven snake robot was performed and the dynamic equation was derived.Then the force and moment generated by the pull wire drive were analyzed.Motion simulation analysis of wire-driven snake robot is used with Adams software,A step function is established.By observing the influence of different parameters in the function to observe the influence of the motion,the most suitable parameters are selected.Imitation of its various joints over time,displacement,speed,angle,angular velocity curve.