Simulation Study on Serpentine Locomotion of Underwater Snake-like Robot

摘要

Serpentine locomotion of underwater snake-like robot is very complicated.In order to better control the motion state, a simulation model of underwater snake-like robot is established to investigate the relationship between the motion performance and the mechanical structure characteristics together with serpentine gait parameters.Based on the density ratio defined as the ratio of snake-like robot density to water density, the locomotion speed, output power and energy consumption of underwater snake-like robot is discussed.Further, with the optimum density ratio, the influence of serpentine gait parameters on the locomotion speed is analyzed.The simulation results show that the density ratio has great influence on the motion performance and the energy consumption of underwater snake-like robot, which can provide important basis for the research of underwater snake-like robot in terms of motion performance optimization and mechanical structure design.