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.