Snake-like robot with the ability to adapt to uneven ground

Abstract

A snake-like robot with the ability to adapt to uneven ground, composed of multiple joint modules connected, the snake-like robot also includes a control system, the joint module includes a fuselage, the fuselage is connected to the control system, and the multiple joint modules The fuselages are connected to each other, the lower part of the fuselage is provided with a suspension system, the suspension system includes a detection device, the detection device is connected with the control system, the detection device is connected with a connecting rod, and the end of the connecting rod is connected with a road wheel. The invention improves the structure of the joint module of the snake-like robot, simplifies the control mode of the existing snake-like robot, and enhances the adaptability of the snake-like robot on uneven ground.

Description

Technical field [0001] The invention belongs to the technical field of machinery, and relates to a robot, in particular to a snake-shaped robot that can crawl on uneven ground and has the ability to adapt to uneven ground. Background technique [0002] The snake-shaped robot has the characteristics of a slender body, a small cross-section, and a variable shape. It can walk in a narrow space with dense obstacles, and can climb over obstacles. [0003] Snake robots are generally composed of multiple joint modules, and each joint module is connected to each other. The internal structure of the joint module is hydraulic, pneumatic or electric, with a single degree of freedom or multiple degrees of freedom movement, and the joint module and the ground are in contact with the ground through wheels. Although the internal structure and function of the joint modules are different, whether the wheel can maintain reliable and stable contact with the ground is the only factor that determines ...

AI Technical Summary

Problems solved by technology

First of all, the angle between the joint modules calculated according to the snake-like motion law needs real-time correction to keep the wheel in contact with the ground. In order to perform this real-time correction calculation, it is not only necessary to use sensors to obtain The computing power of the controller of the snake-shaped robot puts forward high requirements, which increases the complexity of the snake-shaped robot, increases the cost of development and maintenance, and reduces the reliability

Secondly, the size of the contact force between the wheel and the ground also has a great influence on the movement of the snake robot. The current snake robot can only ensure the contact between the wheel and the ground, but cannot effectively control the adjustment wheel and the ground. The size of the contact force, which also limits the ability of the snake robot to move on uneven ground

These limit the application of snake robots on uneven ground

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