Design And Realization Of Control System And Kinematic Modeling Of Serpentine Robot

In recent years,with the continuous development of science and technology and the improvement of computing power of computer equipment,the functions of robots have become more abundant,and the applicable scenarios have also increased.As a typical bionic robot,the serpentine robot has strong flexibility and environmental adaptability,so it is very valuable for the theoretical research and landing application of the serpentine robot.This paper uses the screw theory to analyze the kinematics of the serpentine robot,and designs and implements the software and hardware control system of the serpentine robot,so that the serpentine robot can be applied in the actual environment.The main contents of this paper include :(1)It is determined that the joint of the serpentine robot is orthogonal,and three types of joints of the serpentine robot are designed: the head joint uses the STM32 chip as the main controller,and the infrared sensor,camera and other hardware are added to improve the robot's ability to collect environmental data;body joints use a new serial bus digital steering gear as a drive,and optimize the electrical interface between the robot joints,simplify wiring;tail joints as the robot power supply system unified power supply,making the remaining joints can reduce the volume and make the entire robot smaller.(2)In order to solve the problems of complicated modeling process and unclear geometric meaning on the joints of the serpentine robot by the traditional D-H parameter method,this paper established an inertial coordinate system and a tool coordinate system on the serpentine robot based on the screw theory,and the rotation axis is determined at each joint,and the positive kinematic exponential product model of the robot is established.The positive kinematics model and velocity model were solved for the spiral climbing gait of the serpentine robot,and the simulation was verified by ADAMS and MATLAB,which demonstrated the effectiveness of the method.(3)In order to solve the problem of the remote control of the serpentine robot,this paper designs a software control system for the serpentine robot,including the host computer software and the remote communication module software: the host computer software is customized based on Unreal Engine 4,and the serpentine robot simulation model,virtual scene and user control interface are developed;based on multi-thread and network communication,the remote communication module software realizes the functions of receiving the connection of multiple clients,transmitting the feedback data of the robot,and remote control between the host computer and the robot.Finally,based on the actual serpentine robot and computer,the control experiments were carried out to verify the feasibility and effectiveness of the serpentine robot's hardware and software system designed in this paper.