Journal of South China University of Technology (Natural Science Edition) ›› 2019, Vol. 47 ›› Issue (10): 13-23.doi: 10.12141/j.issn.1000-565X.190019

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Safe Climbing of Snake-Like Robot Based on Screw and Envelope Theory

 WEI Wu ZHANG Jie GAO Yong XU Jiebin    

  1.  School of Automation Science and Engineering，South China University of Technology，Guangzhou 510640，Guangdong，China
  • Received:2019-01-14 Revised:2019-04-03 Online:2019-10-25 Published:2019-09-01
  • Contact: 高勇( 1993-) ，男，博士生，主要从事仿生机器人技术、智能控制技术研究 E-mail:andygao_scut@163.com
  • About author:魏武( 1970-) ， 男，博士，教授，主要从事机器人控制技术、智能控制技术、模式识别与人工智能研究
  • Supported by:
     Supported by the National Natural Science Foundation of China( 61573148) and the Science and Technology Planning Project of Guangdong Province( 2015B010919007， 2016A040403012) 

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Abstract: 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．

Key words: snakelike robot, screw theory, elastic envelope, binary images, safe climbing

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