Structure design and motion control of manipulator

Abstract

Most of the research on new bionic robots are applied in unstructured environment and can be competent for some tasks in complex structure or narrow space. As an important member in the field of bionic robot, snake manipulator has the advantages of good accessibility, high flexibility and strong environmental adaptability, and has a good application prospect. This paper studies the body structure design, motion analysis, control system design and prototype verification of snake manipulator. In this paper, the body structure of snake manipulator is designed, including driving mode and joint connection mode. The three-dimensional structural model of snake manipulator is designed by using SolidWorks, and the static analysis of key stress components is carried out to verify the structural reliability. The motion analysis of snake manipulator is completed. The motion principle analysis of the transmission mechanism, the motion analysis in two-dimensional plane and the kinematics and dynamics analysis in three-dimensional space provide a theoretical basis for further control.