Body Configuration Design and Kinematic Performance Research of Snake-like Robot Based on 3-RSR Parallel Mechanism

doi:10.3901/JME.2021.23.021

Abstract

Abstract: As an important branch of bionic robot, snake-like robot has a soft and light body, flexible movement and strong environmental adaptability. It has a very broad development prospect in military reconnaissance, geological exploration, disaster rescue and other fields. A modular snake-like robot unit with high flexibility and compact structure is designed by innovatively combining parallel mechanism, origami mechanism and flexure hinge. The hardware circuit construction and control algorithm writing are completed independently. The control system of snake-like robot is designed to realize the cooperation of multiple DC deceleration motors, and the gait planning of snake-like motion is carried out. The prototype of snake-like robot is manufactured and the robot performance test in specific environment is completed.

Key words: snake-like robot, parallel mechanism, spinor system decomposition, gait planning

CLC Number:

TP24

WEI Wei, ZHUANG Zheming, TANG Zhao, DAI Jiansheng. Body Configuration Design and Kinematic Performance Research of Snake-like Robot Based on 3-RSR Parallel Mechanism[J]. Journal of Mechanical Engineering, 2021, 57(23): 21-33.

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