Modeling and Analysis on Multi-gait Dynamics of Snake-like Robot

杜雪林; 周灿; 刘颖; 易文慧; 邹家华

doi:10.13433/j.cnki.1003-8728.20230299

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Modeling and Analysis on Multi-gait Dynamics of Snake-like Robot

更新时间：2026-04-23

- Modeling and Analysis on Multi-gait Dynamics of Snake-like Robot
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 9, Pages: 1557-1567(2025)
- 作者机构：
  
  湖南工学院机构智能制造与机械工程学院,湖南,衡阳,421002
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230299
  CLC：
- Published：2025
- 稿件说明：
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杜雪林, 周灿, 刘颖, et al. Modeling and Analysis on Multi-gait Dynamics of Snake-like Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(9): 1557-1567.
DOI：

杜雪林, 周灿, 刘颖, et al. Modeling and Analysis on Multi-gait Dynamics of Snake-like Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(9): 1557-1567. DOI： 10.13433/j.cnki.1003-8728.20230299.

摘要

针对蛇形机器人的多步态动力学分析问题，建立了其二维和三维运动的动力学仿真模型。利用所研制的11个两自由度正交关节蛇形机器人，建立其蜿蜒运动的动力学理论模型，并借助于SolidWorks和Adams建立其蜿蜒、蠕动和翻滚等步态的动力学仿真模型。特别地，考虑翻滚运动可能出现的关节运动干涉问题，采用step函数实现了翻滚运动关节角度的输入。动力学分析结果表明，在3个步态中，翻滚步态下的关节扭矩幅值最大，蠕动步态次之，蜿蜒步态最小，翻滚运动时要及时调整机器人姿态来避免关节运动干涉。蛇形机器人多步态的动力学研究能够为其步态规划、关节电机选型和运动控制提供参考和指导。

Abstract

Aiming at the multi-gait dynamic analysis of snake-like robot

a dynamic simulation model for the two-dimensional and three-dimensional motion was established. Using the developed snake-like robot with 11 two-degree-of-freedom orthogonal joints

the dynamic theoretical model of its serpentine locomotion was established

and the dynamic simulation model of its serpentine

rolling and inchworm locomotion was established with the help of SolidWorks and Adams. In particular

considering the joint movement interference problem that may occur in rolling motion

the step function is used to realize the input of rolling joint angle. The dynamic analysis results show that among the three gaits

the joint torque amplitude under the rolling locomotion is largest

the inchworm locomotion is the second

and the serpentine locomotion is the smallest

and the robot posture should be adjusted in time to avoid joint movement interference during the rolling movement. The multi-gait dynamics study of snake-like robots can provide reference and guidance for their gait planning

joint motor selection and motion control.

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Related Institution

School of Mechanincal Engineering, Hunnan University of Science and Technology, Xiangtan 411100, Hu'nan

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