Research on underwater snake-like robots' mechanismdesign and their serpentine swimming performance

Abstract

© 2016, Inst. of Scientific and Technical Information of China. All right reserved. Through imitating the serpentine swimming locomotion of natural underwater snakes, a prototypical underwater snake-like robot was designed based on the analysis of its mechanism and control system, and the experimental study on its serpentine swimming locomotion was conducted by using the serpenoid curve. Firstly, the force the snake-like robot suffered was studied and analyzed; Secondly, the serpenoid curve was used to control the snake-like robot and a dynamic model was established for serpentine swimming simulation study by the prototype; Finally, the serpentine swimming performance experiment on the snake-like robot was compared with that on the dynamics simulation to verify the necessity of modeling, thus providing a theoretical basis for practicalizing the technology.