Motion Analysis And Research Of Military Creeping Bionic Robot

As an important direction of robot development,peristaltic robot has been studied and focused by many scholars.Its small size and concealment feature make it to enter a narrow and dangerous complex environment easily,and it has great application prospects and economic effects in medical devices,military investigation and other fields.In this paper,aiming at the peristaltic mode of multiple redundant degrees of freedom,the study on the peristaltic form of typical bionic robot is carried out through the combination of experiment and simulation,taking the typical biology as the research object.Through the comparative analysis of the typical biological movement mechanism,this paper designed the observation test system of two silkworm,and measured their displacement and velocity,providing a theoretical reference for the design of prototype.This paper also offered new proposals for creeping robot.According to the movement rule of the observed silkworm,the mechanism of the two kinds of silkworm movement was studied,and the mathematical model of the movement curve of the peristaltic robot is established.The curve was analyzed by Matlab simulation environment.This paper established the dynamics model of peristaltic robot.And it established a three-dimensional simulation model of snake robot under the multi-body system dynamics simulation software ADAMS,In addition the trajectory tracking control is studied,and a robust trajectory tracking controller is built.And the simulation is carried out by using Simulink.Finally,this paper verified all kinds of movement of peristaltic robot,and focused on the further improvement of the snake like robot and provided the suggestion.