Research On Movement Mechanism And Structure Design Of A Sea Snake-like Robot

The organisms themselves have the ability to adapt to the environment,whether they are land snakes,water snakes or sea snakes.Sea snakes are evolved from land snakes.Compared with land snakes,their body shape and movement characteristics are quite different,and they are more adapted to survive in the complex habitats in the sea.In this paper,from the perspective of biological evolution,the evolution of body and movement characteristics of sea snake are studied,and based on this,the research of sea snake imitation robot is carried out.1.Movement mechanism of sea snake robotResearch on the evolution characteristics,swimming mechanism and wave characteristics of sea snakes;To study the propulsion mechanism of sea snake's body active deformation,the paper firstly analyzes the propulsion mode of sea snake according to the movement characteristics of biological sea snake and defines the wave curve of sea snake robot.2.Propulsion analysis of flexible snake tailTaking the flexible snake tail as the research object,the hydrodynamic analysis model of fluid-solid coupling of snake tail oscillation was established,and the dynamic relationship between the scale parameter,kinematic parameter and propulsion force of snake tail was studied by solving RANS equation method.The effects of different movement frequency,amplitude and geometric parameters on the propulsive force are analyzed.3.Mechanism design of sea snake robotAnalyze the swimming characteristics of sea snake,carry out bionics research on sea snake swimming,analyze the morphological characteristics of sea snake,and study the propulsion mode of sea snake.The overall configuration of the bionic sea snake is designed according to the bionics principle.4.Conduct theoretical analysis on the force of underwater movement of the sea snake robotFirst of all,the motion mathematical model of sea snake robot should be established as the basis for further numerical simulation,motion performance analysis and optimization design.Based on water dynamics analysis,according to the machine sea snakes morphology,swimming kinematics,rigid body dynamics to establish accurate and quantitative forward motion dynamics model,revealing the swimming kinematics equation-winding speed – propulsive efficiency of internal relations,sea snakes controller design for the machines which provides the theoretical foundation,steerability and stability analysis.5.Simulation analysis of underwater motion performance of sea snake robot,and corresponding experimental verificationHydrodynamic analysis was carried out on the designed bionic sea snake robot by using fluid-solid coupling simulation,including the propulsion mechanism analysis of flexible snake tail,and the influence of different shape and size of snake tail,different structural stiffness,and different swing parameters on the propulsion speed and efficiency.Research on the mechanism of sea snake body active deformation propulsive,revealing the influence of active deformation parameters and flow field parameters,as well as the influence of snake body morphological parameters on shape resistance.To sum up,this paper establishes the underwater dynamics and kinematics model of the sea snake robot,validates the sea snake's sinter motion control model,and conducts the hydro-dynamic analysis of the flexible snake tail.The experiment proves that the sea snake robot simulated the real sea snake motion under this control model,which meets the requirements of efficient underwater motion.