关键词: 动力学模型, 蛇形机器人, 行波运动, 形状控制, 运动学模型, 仿真模型, 两相分配, 微通道蒸发器, 压降

Abstract: The mechanism of traveling locomotion of snake robot is studied. A modeling approach of body shape control, kinematics and dynamics of snake robot in traveling wave locomotion is established based on Serpenoid curve. Computer simulation results show that: the required joint torques in traveling wave locomotion is periodic. Input torque of the joint is diminished with the increasing of the distance between the joint and the center of gravity of the body. Symmetry joints with the same distance from the gravity center have the same amplitude of input torques with a phase difference. The torque of central joint is the biggest input torque of the snake robot. If keeping the initial angle the same, the joint input torque is increased with the increasing of friction coefficient of the environment. And if keeping the friction coefficient of the environment the same, the joint input torque is increased with the increasing of initial angle.

Key words: Body shape control, Dynamics, Kinematics, Snake robot, Traveling wave locomotion, Pressure drop, Simulation model, Two phase distribution, Microchannel evaporator