Innovative Design And Implementation Of Search And Rescue Snake-like Robot With Modular Mechanism

As an under-actuated system,the bionic snake-like robot can realize the flexible movements in complex unstructured dangerous environments or various kinds of sudden conflicts which has its unique advantage.But the research on its structure and control strategy limits its practical application for some reasons.Based on the research of prototype motion state in complex environment,this project uses 3D modeling software to design and fabricate physical prototype structure and designs core electrical controller and motion control algorithms.Some necessary sensors such as gyroscope,ultrasonic,infrared distance sensors are added to detect the surroundings.The improved control strategies demonstrate its effect on the modal diversity of robots.The article contains several parts as follows:1.Snake-like robot prototype and electrical controller design.Based on the modular idea,we design the snake-like robot prototype,which contains parallel module,variable stiffness flexible module and orthogonal series module,respectively.For each type of joint module,connection mechanism,control and power supply are taken into considered as well.Embedded controller is designed based on actuator communication type and mechanical structure.2.Kinematic analysis of Snake-like robots.The kinematic analysis of parallel and orthogonal series mechanisms is carried out by using the exponential product formula of the screw theory.The kinematics simulation environment is built based on MATLAB software to verify the feasibility of the actual motion process of the model.3.The dynamic analysis and algorithm control design of the Snake-like robot.Based on the kinematics analysis results and various methods of dynamic analysis,the screw theory method is used for dynamic analysis modeling to establish a three-dimensional model and many obstacle circumstances.And we use the sliding mode to optimize the trajectory control strategy.The required output's parameter values are measured by dynamics measurement tool.And the sensor's measured data are compared for correction and control strategy improvement.4.Serpentine robot prototype test verification.Physical prototype is tested by serpenoid movement,U-shaped tumbling,spiral climbing movement.The actual motion effect of various motion gaits is record to compare with the output values of the simulation environment.For orthogonal,parallel and variable stiffness multi-module hybrid mechanism performs the overall motion head trajectory measurement and visual positive stabilization test,and provides experimental data and test basis for the development and improvement of the reconfigurable direction of the snake-like robot.