Kinematics Analysis and Dynamics Modeling of Bionic Water Snake Robot Based on D-H Parameters and Lagrange Equations

doi:10.3901/JME.2024.15.134

Abstract

Abstract: With the increasing demand for underwater environment operations, higher requirements have been put forward for robots in extreme environmental operations, multitasking requirements, and other aspects. In order to meet the high-performance requirements of environmental adaptability and maneuverability for underwater robots, it is urgent to design a highly flexible underwater snake like robot, and conduct in-depth research on its structural optimization and mathematical modeling. Therefore, based on the analysis of the biomimetic mechanism of biological snakes, a modular and reconfigurable multi segment biomimetic water snake robot structural model is designed. Based on the D-H parameter method, analyze the motion trajectories and forward speeds of each joint on the spatial motion waveform, and establish a motion mapping relationship; The hydrodynamic model is established considering the water resistance and reaction forces generated by underwater motion, and combined with the Lagrange equation, The equivalent kinematics and dynamics models of the water snake robot are established. Based on the established joint model, a detailed analysis is conducted on the key parameters that affect the joint angular motion, forward speed, and other performance of the water snake robot. Using a sinuous gait as the input reference signal, a joint simulation verification is conducted using Matlab and Adams. The results showed that when the gait amplitude is taken as 0.8 rad, the angular frequency is taken as 2 rad/s, and the phase difference between adjacent joints is taken as π/3 rad, the robot presented an ideal sinuous gait; At the same time, Adams is used to analyze the driving torque and power of each joint of the robot. The results show that the driving torque and power from the two end joints to the middle joint of the robot increased from about 0.6 N/m to 14.3 N/m, and from 1.1 N•m/s to 14.8 N•m/s, respectively; Finally, a robot prototype experiment is built to verify the driving function and torque of the snake robot's winding motion. The experimental results show that the driving torque and power required by the middle joint of the snake robot were greater than those of the two end joints, and the driving torque of the middle joint was 3.2 times that of the two end joints. This is consistent with the simulation conclusion and provides a theoretical basis for the underwater motion of the snake robot.

Key words: water snake robot, biomimetic mechanism, meandering movement, kinematic model, dynamic modeling

CLC Number:

TG156

WANG Min, SUN Jingjian, DING Jiheng, SUN Yi, PENG Yan, PU Huayan, LUO Jun, XIE Shaorong. Kinematics Analysis and Dynamics Modeling of Bionic Water Snake Robot Based on D-H Parameters and Lagrange Equations[J]. Journal of Mechanical Engineering, 2024, 60(15): 134-148.

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