A Design Of Snake Robot Inspired By Waterbomb Origami

Snake robot,as a super redundant robot,has the advantages of high dynamic stability with low center of gravity,which is suitable for application in rugged or narrow road conditions and other complex environments.However,the heavy quality,large volume,and high cost limit current snake robot research.In this paper,a snake robot is designed inspired by waterbomb origami and driven by tendon-sheath.The robot has the ability of self-folding,and can wriggle as biological snake.The robot is easy-storing,light,flexible,and low-cost,which is beneficial to the development of snake robot.In this paper,the mechanism model of the waterbomb pattern was constructed and the theoretical folding processes of the pattern were obtained.The theoretical positions of the vertexes of the origami pattern are solved under the assumption of symmetry.The tessellation of the waterbomb pattern with 2*3 units is used as the mechanism scheme of snake robot's module joint.Through the design and analysis of flexure hinges and tendon-sheath,the structural design of the module joint was completed.The self-folding performance and bending performance of the module joint were obtained by the static characteristic experiment.In order to realize the gait planning and motion control of the snake robot,D-H method was used to build the kinematics model of the snake robot.By changing the parameters of the serpenoid curve,the simulation of the snake's wriggling gait was established.Considering the limitation of the designed modular joint in bending direction,a discrete serpenoid curve model suitable for the designed modular joint was built by reasonably designing the fitting conditions.At this point,the gait simulation of the snake robot can be realized.The control system of snake robot is constructed.Wireless radio frequency module was used to remote control the robot.Stepper motor and micro stepper motor with sliding platform were used to control the displacement of tendon-sheath.Based on the above work,in order to test the feasibility of the snake robot's wriggling,a prototype of the designed snake robot is manufactured.The prototype's gait was compared under different road conditions,including ground with sandpaper or marble.The results of the experiments showed that the prototype can well simulate the snake's wriggling gait.