Research And Design Of Snake-like Robot Based On Multi-motion Gait

In recent years,the earthquake,fire disaster and other disasters occur frequently.These disasters are a serious threat to people's lives and property.Therefore,it is necessary to develop a bionic robot which can assist people in completing the dangerous operation.The bionic robot is the system which imitates the natural organisms' structure and behavior.Moreover,it has been gradually developed in the planetary exploration,pipeline inspection,disaster relief,medical treatment and other fields.The bionic robot mainly consists of multi-legged robot,flying robot and snake-like robot.Snake-like robot is used for many complex areas because of their flexibility.In this background,the paper describes the research and design of snake-like robot based on multi-motion gait.The article illustrates the following four aspects:(1)Design of mechanical system.After fully research for the structure and gait of the biological snake,head and tail of snake-like robot are designed in SolidWorks based on the steering gear size and other external hardware requirements.The designed snake-like robot has many advantages in compact connection,small size and so on.Using orthogonal connection between the front and rear joints could achieve snake-like robot's meandering,peristalsis and tumbling and other gait movement.(2)Design of control system.The control system mainly includes master control system,slave system and monitoring system.The communication between master system and slave system adopts Zigbee technology.There are multi-sensors for detecting environmental temperature and humidity,air pressure,CO harmful gases,heat and a camera for capturing video in master control system.And these data could be transferred to the monitoring system by the Bluetooth module and WiFi.(3)Kinematics modeling and the analysis of the control function.In this paper,the relationship between the terminal position and each joint is researched through D-H method.And the research of control function analysis is based on the Serpenoid function and the central model generator(CPG).The control function of Serpenoid was improved,and the relationship between the motion shape function and the joint angle function of the snake-like robot was obtained by curve fitting.Through simplifying CPG model modeling and function parameters,the effective control signals are obtained.(4)Gait-simulation and prototyping testing.The snake-like robot's Serpenoid control function and the CPG model are simulated by the ADAMS and Matlab software.The influence on displacement of different parameters is discussed in detail.The steady gait with the optimized parameters is obtained.The angle and moment variation of joint are analyzed.The CPG model is simulated by ADAMS and MATLAB/Simulink.Those gaits are steady through prototype testing.In general,the designed snake-like robot in this paper is reliable.And it could be applied in the complicated environment such as pipeline inspection,high-altitude operation and disaster rescue after improving the system.