针对正交关节连接的蛇形机器人，文中提出了一种新的基于旋量与包络理论的 螺旋攀爬运动研究方法． 首先应用旋量理论对蛇形机器人进行运动学建模与求解，以降低 传统 D-H 参数法建模的复杂性;然后基于包络思想分析蛇形机器人在攀爬运动过程中与 圆柱杆的接触关系，提出了二值图像表示法来揭示机器人与圆柱杆的包络状态;最后基于 弹性包络的分析结果，求得蛇形机器人的螺旋攀爬力，进而提出以安全攀爬力和攀爬系数 为优化目标的控制参数优化模型． 仿真结果表明，攀爬力与弹性包络状态间具有一致性， 从而验证了文中提出的优化模型的正确性． 

A new research method of spiral climbing based on screw theory and the elastic envelope for the snakelike robot with orthogonal joints was presented． Firstly， the screw theory was used to build kinematics modeling of snakelike robot to reduce the complexity of D-H modeling method． Secondly， the contact relationship between the snakelike robot and cylindrical rod during the climbing movement was analyzed based on the screw theory，and a binary images representation was proposed to reveal the elastic envelope state between snakelike robot and cylindrical rob． Finally，based on the analysis results of elastic envelope， the spiral climbing force of the snakelike robot was obtained，and then the parameter control optimization model with safe climbing force and climbing coefficient as the optimization target was proposed． The simulation results show that the climbing force and the elastic envelope state are consistent，which verifies the optimization model．