Contact Analysis Of Snake Movement In Multi-environment And Test Research Of Scale Friction Performance

As a special reptile without legs,the snake has its own flexible and polymorphic body structure and wear-resistant scales arranged in a tile-like arrangement all over the body.Through the coupling effect of the two,it shows its superior adaptability to complex environment and landforms.According to the living habits of snakes,the semi-aquatic red chain snake was selected as the research object to explore the snake's contact behavior and scale friction performance in various environments,reveal the snake's movement strategy in complex environments,and provide the snake-like robot's movement system.Effective bionic design basis.Firstly,using a three-dimensional motion capture system,we explored the kinematic laws of the red chain snake in a variety of environments.The test results show that the red chain snake uses body muscles and alternately cooperates with the side and abdomen scales and contact surfaces to form an accordion-like expansion and closing configuration,which realizes the expansion and contraction of the snake in multiple environments.By changing the contact environment such as roughness,dryness and wetness,and observing the movement parameters of the snake and the number of contact points,it is found that the snake regulates the displacement of the body through the muscles,and adjusts the movement speed under the condition of ensuring the stability of the movement.Secondly,the current domestic and foreign animal motion contact mechanics testing devices are reviewed,and the red chain snake motion contact mechanics testing device is designed and built according to the snake's life habits to explore the changes in the force of the body's mobile unit when the snake moves in different motion spaces.The analysis of the test results found that when the red chain snake moves in the channel,the contact force displayed by the sensor in contact with its body unit is close,but as the channel width increases,the abdominal contact force increases,indicating that the snake has the function of redistributing its own weight.It is also proved that as the width of the channel increases,the main source of power for the snake's advancement gradually changes to the abdominal contact force.Finally,a multifunctional friction and wear tester was used to explore the friction and lubrication properties of abdominal scales under different roughness.Test data show that the friction factor of abdominal scales in a wet environment is greater than that of abdominal scales in a dry environment,and in a dry environment,as the sliding speed increases,the friction factor of the abdominal scales shows a decreasing trend,while in a wet environment,with the sliding speed However,the friction factor of the abdominal scales showed an increasing trend,indicating that when the snake relies on the abdominal contact force to move,as the environment changes,the snake realizes the change of period,speed and displacement by regulating the related properties of the abdominal scales.