针对传统的 D-H 参数法需在每个关节上建立局部坐标系、建模过程复杂、几何意 义不明确且求逆解易产生增根等不足，文中对具有关节多、结构冗余度高的蛇形机器人运 动学建模展开研究，提出了基于旋量理论的蛇形机器人运动学建模方法，证明了 D-H 参 数法与基于旋量理论的建模方法的等价性，并基于旋量理论的指数积公式求解了蛇形机 器人的速度雅可比矩阵，建立了蛇形机器人速度模型． 使用 Adams 软件对蛇形机器人进 行运动仿真，测量所得的末端执行器线速度和角速度曲线与 Matlab 计算所得的末端执行 器线速度和角速度曲线一致，结果表明了旋量理论建模方法的正确、简捷和有效性． 

 In view of the traditional D-H parameter method has many disadvantages，such as the local coordinate system needs to be established on every joint， the modeling process is complex， the geometric meaning is not clear and the inverse solution leads to the rooting problem， the kinematics modeling of snakelike robot which has many joints and high structural redundancy was studied，and the method of the snakelike robot’s position modeling based on screw theory was proposed． Meanwhile，the equivalence between the D-H parameter method and the screw theory modeling method were proved，and the velocity Jacobi matrices of snakelike robot were solved by using the exponential product formula based on screw theory，establishing the speed model of the snakelike robot． The motion simulation of the snakelike robot was carried out by using Adams software． The measured linear velocity and angular velocity curves of the end effecter are consistent with the linear velocity and angular velocity curves of the end effecter calculated by Matlab． The results show that screw theory modeling method is correct， simple and effective．