Research On The Structure Design And Control Of The Serpentine Manipulator

Most of the research on new biomimetic robots is oriented to unstructured environment applications and can be competent for some tasks in complex structures or in narrow spaces.As an important member in the field of bionic robots,the serpentine manipulator has the advantages of good accessibility,high flexibility,and strong environmental adaptability,and its application prospects are good.This paper will conduct research from the main structure design,motion analysis,control system design and prototype verification of the serpentine manipulator.The specific work is as follows:The body structure of the serpentine manipulator is designed,including the driving mode and joint connection mode.The three-dimensional structure model of the serpentine manipulator is designed with SolidWorks,and the statics analysis of the key stress components is carried out to verify the structural reliability.The motion analysis of the serpentine manipulator is completed.The analysis of motion principle of transmission mechanism,motion analysis in two-dimensional plane,kinematics and dynamics analysis in three-dimensional space provide theoretical basis for further control.In this paper,the ADAMS software was used to complete the simulation analysis of the serpentine manipulator prototype,and the motion stability of the mechanism and the torque required by the joint actuator were verified in accordance with the hardware preset.The control system of the snake manipulator is designed,which is divided into hardware system design and software program development.The prototype platform of the manipulator was built and the experimental research was carried out.Multiple groups of serpentine curves with different curvature were taken to control the manipulator to achieve s-shaped motion in the two-dimensional plane,and the relative error was within the range of±0.5%,showing a smooth s-shaped bending motion.With the assistance of external vision sensor,the motion ability of 3D space is verified.The absolute error between the actual arrival position and the expected position of the end of the manipulator is less than 4mm,and the relative error is less than 2%.The experiment proves that the manipulator has good flexibility,stable and reliable motion,and can complete the action according to the expected control.