The Research Of Snake-like Robot For Climbing Based On The Elastic Envelope

Snake-like robot is a kind of wide-ranging bionic robot,which has broad development foreground and great research value.However,its high redundancy and complex structure make it difficult to research.This thesis aims to study the climbing snake-like robot through the idea of elastic envelope,and explores how to obtain the elastic envelope law of climbing movement for snake-like robot,which will actually lay a foundation for the further study of analyzing and optimizing the climbing movement of snake-like robot.Firstly,this thesis introduces the body design of snake-like robot for climbing,including integral connection schemes between joint modules,the mechanical structure of joint modules,driven steering gear,battery pack,skin,control panels and communication system,etc.This thesis also describes the design ideas and structural characteristics of snake-like robot for climbing,which provides the research object for the following theoretical research.Then,in this thesis,the idea of elastic envelope is introduced into the kinematics analysis of snake-like robot for climbing.Therefore,this thesis completes the kinematics modeling of snake-like robot based on the D-H parameter method,which generates different gaits for the snake-like robot.And then for the complex spiral rolling climbing movement of snake-like robot,this thesis proposes the novel idea of elastic envelope.Finally this thesis introduces the method of obtaining the elastic envelope law of snake-like robot for climbing in detail,and proposes a binary image representation method based on joint module gap,which vividly reveals the elastic envelope law of snake-like robot for spiral climbing movement,providing the basis for the following research work.Next,in order to further analyze the mechanical model of snake-like robot for climbing,the Lagrangian equation is used to the dynamics modeling of the snake-like robot,which aims to solve the driving force of the joint module.Then the complex dynamics of the snake-like robot is transformed into a relatively simple static problem,which makes it more easier to solve the climbing force of the snake-like robots.This thesis also proposes a safe coefficient for climbing of the snake-like robot.Finally,the mechanical model of snake-like robot is simulated through the ADAMS software,which aims to analyze and obtain the relationship between the climbing force,the power consumption and the elastic envelope law of the snake-like robot for spiral climbing movement.Finally,this thesis compares the kinematics simulation on ADAMS software and real experiments of the snake-like robot for climbing,which verifies the correctness and validity of gaits generation.And this thesis combines the real climbing experiment of snake-like robot outdoor to illustrate that the acquisition of good elastic envelope law for snake-like robot is very important to the climbing movement of the snake-like robot.