a snake robot

Abstract

An S-shaped robot comprises a plurality of main body modules, a plurality of joint modules and a driving control module. Every two adjacent main body modules are connected through one corresponding joint module. Each joint module comprises a joint swinging arm. The driving control module is used for driving at least one joint swinging arm to swing relative to the former main body module connected with the joint swinging arm, and / or driving at least one joint swinging arm to swing relative to the latter main body module connected with the joint swinging arm. The swinging direction of each joint swinging arm relative to the former main body module connected with the joint swinging arm is perpendicular to the swinging direction of the joint swinging arm relative to the latter main body module connected with the joint swinging arm. By the adoption of the scheme, the complexity of a whole joint steering mechanism is effectively reduced, and meanwhile the transmission accuracy is improved.

Description

technical field

[0001] The invention relates to the field of robots, in particular to a snake-like robot. Background technique

[0002] The bionic snake-like robot has become a research hotspot in the field of robotics because of its modular design, multi-degree-of-freedom, high redundancy, high flexibility, and excellent environmental adaptability of its small body. The joint steering mechanism is the core of the snake-like mechanism. A key point, the steering joint plays the role of connecting two body units and outputting motion. Whether the design of the joint steering mechanism is reasonable or not directly determines the motion performance of the robot. The joint steering mechanism used in the snake robot should have the characteristics of large variable angle, excellent mechanical properties, and precise movement.

[0003] Most of the serpentine knuckle steering mechanisms currently used have complex structures, difficult parts processing, complicated installation, ...

Images