A Design of a Snake Robot Inspired by Waterbomb Origami

摘要

In this paper, the research of a origami and snake robot was combined, the design and manufacture of the snake-shaped robot was based on the principle of origami, and the gait of the biological snake winding movement can be realized. Driven by lasso structure, the snake robot has the advantages of compact structure, light weight, flexible replacement and low cost. Waterbomb Mosaic pattern containing 2 *3 units was adopted as the mechanism scheme of modular joints of the snake robot. Through the design and analysis of flexible dumpling chain and lasso mechanism, the structural design of modular joints of the snake robot was completed. The self-deforming and bending properties of modular joints were verified by static experiments. The kinematics modeling of the snake robot was carried out by the D- H method. By studying the parameters of Serpenoid curve, the simulation of snake movement was realized. The control system of snake robot was constructed and the displacement control of the lasso structure was realized by stepper motor and miniature stepper motor sliding platform, and the real-time parameter remote control of snake robot was realized by radio frequency module.