The invention relates to an attitude control method of a snake-like robot for advancing in a hole. The snake-like robot comprises spiral casings (1) in groups of four, wherein spiral teeth are arranged on each spiral casing (1), the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle are the same, and the rotating directions of the spiral teeth of the two spiral casings (1) located on two sides are opposite to the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle; a universal joint is arranged between two adjacent spiral casings (1). The attitude control method of the snake-like robot for advancing in the hole comprises the following steps: the universal joints keep a straight line sate under control of actuators (4), the spiral casings (1) are driven by gear motors to rotate, so that the left and right friction force between the spiral teeth of two adjacent spiral casings with different rotating directions of the spiral teeth and the contact surface is offset, and one forward resultant force is formed. The robot can go forwards in a snake-like manner in a narrow environment.
Attitude control method of snake-like robot for advancing in hole
2015-06-10
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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