Multi-gait snake-shaped robot integrating crawler-type advancing mechanism and snake neck joint

Abstract

The invention discloses a multi-gait snake-shaped robot integrating a crawler-type advancing mechanism and a snake neck joint. The multi-gait snake-shaped robot comprises a snake head component, a snake neck component, a plurality of snake body components and a snake tail component. Both the snake head component and the snake tail component adopt the crawler-type driving design, so that the motioncapability of the snake-shaped robot is enhanced; with the design of the snake neck component, the snake-shaped robot can easily perform head lifting action, the obstacle crossing capability of the snake-shaped robot is enhanced; the plurality of snake body components in the middle are connected in series and orthogonally, the snake-shaped robot has the capability of moving in a three-dimensionalspace; and the framework of the snake body components is designed in a hollow mode, and the installation space is provided for a control system, a power supply system and the like. The snake-shaped robot can realize moving gaits such as linear traveling, creeping crawling, and lateral rolling, and is suitable for different ground environments.

Description

Technical field [0001] The invention belongs to the technical field of robots, and specifically provides a multi-gait snake-shaped robot integrating a crawler-type traveling mechanism and a snake neck joint. Background technique [0002] Compared with traditional wheeled, footed and other mobile robots, the snake robot is a highly redundant system with multi-gait motion capabilities. It has high motion stability and environmental adaptability, and is not only widely used in earthquakes. , Fires, mining disasters and other disaster search and rescue work, but also can be used in military reconnaissance, extraterrestrial exploration, pipeline survey and other harsh environments and dangerous fields. [0003] Biological research divides the movement of snakes into four modes: meandering crawling, telescopic motion, linear crawling, and lateral hovering. Most scholars at home and abroad have done a lot of research on the principle and form of motion of snakes from the perspective of b...

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Problems solved by technology

[0007] In order to solve the above problems, that is, in order to solve the problems of poor ground adaptability, weak obstacle surmounting ability and low movement flexibility of existing snake-shaped robots, the present invention provides a multi-gait snake that integrates crawler-type traveling mechanism and snake-neck joints. Shaped robot, which can realize motion gaits such as straight forward, creeping and crawling, and sideways rolling

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