Gait Planning Of Snake-like Robot Based On Parallel Module With Two Rotation And One Translation

Bionic robots can imitate the unique characteristics of natural organisms and accomplish special tasks that human beings can not accomplish.With its strong ground adaptability,the snake-like robot has broad application prospects in disaster search and rescue,pipeline detection and so on.In order to expand the gait pattern of snake-like robot and improve the mobility of bionic robot,this paper takes 2-RRU/URR parallel module unit and ratchet mechanism as the main research object,carries out performance analysis of parallel module unit and multi-gait planning and simulation analysis of the gait of the bionic snake-like robot.Firstly,a bionic module unit for snake-like robot is proposed.Based on screw theory,the DOF of the parallel mechanism is obtained,and position inverse solution analysis is carried out to obtain the workspace of the parallel mechanism.Then the workspace is partitioned in detail.The Jacobian matrix of the parallel module with homogeneous dimension and dexterity index are obtained.Based on this index,the kinematic performance of the parallel mechanism is analyzed.Secondly,based on the motion mechanism of biological snake,the kinematics model of serpentine locomotion is established.In order to achieve the desired simulation effect,The serpentine locomotion is realized by gait control methods based on morphological model,motion control function and simplified CPG model.In the gait design of the snakelike robot,the serpentine locomotion and traveling wave motion are improved by combining the stretching motion,and a new gait is developed to improve the snake-like robot's motion efficiency and obstacle-crossing performance.The traveling wave motion of snake-like robot is studied by using traveling wave control theory,and the angle control function is obtained.Thirdly,based on the research of gait planning theory,the kinematics simulation of each gait of snake-like robot is carried out.The simulation model of snake-like robot is established in ADAMS,and the simulation of telescopic motion and serpentine locomotion is carried out respectively.The reasonable motion parameters are found,which provides the main reference for gait experiment.Finally,based on the basis of the original snake-like robot prototype,the shape of the snake-like robot is further optimized to make it more characteristic of biological snake.Then the gait experiment of the snake-like robot is carried out,and the various gaits of the snakelike robot are compared with the parameters of the advance of the snake-like robot in a period.