Mechanism design and motion analysis of snake-like robot

ZHANG Ling-ling， QU Ze-chao
（No. 713 Research Institute， China Shipbuilding Industry Corporation， Zhengzhou 450015， China）

Abstract： Snake-like robot can adapt all sorts of complex circumstances with its unique body structure and movement forms.In order to verify the ability of motion for snake-like robot，a snake-like robot was designed，which was able to execute cycle locomotion. The design of the robot's arthrosis mechanism and the movement principle were discussed. The motion tread feature of three-reciprocating rod model was analyzed by establishing mathematic model of robot motion in detail，combined with the motion periodicity of snake-like robot.The results indicate that three-reciprocating rod motion tread improves the ability of motion for snake-like robot.
Key words： snake-like robot；periodicity motion；design of  joint；three-reciprocating rod；locomotion stride