This invention relates to the field of snake
robot technology, and more particularly to a super-redundant snake
robot for oil-immersed environments, comprising a disk adsorption module, a flexible
robotic arm, a joint sensing module, an attitude sensing module, and a control module. The disk adsorption module anchors the
robot to the outside of the
transformer observation port. The flexible
robotic arm, composed of multiple sealed flexible joint units connected in series, can extend into the oil-immersed environment. The control module integrates offline planning, online disturbance observation and compensation,
adaptive tracking control, and a precise compliant
control unit. It obtains accurate target point coordinates through prior model registration and estimates and compensates for oil disturbances in real time during movement, ultimately achieving precise, stable, and compliant alignment and detection of the end
effector in a narrow oil-immersed space. This invention solves the problems of existing detection robots, such as large
diameter, poor maneuverability, low movement accuracy in
viscous oil, and lack of stable reference points, achieving efficient and accurate detection inside transformers under conditions without oil drainage.