Research on the mechanism and correction of the wandering movement offset of ship snake-like robot

YANG Dongran, ZHANG bin, ZHENG Qinggong, LI Xiaofeng, WANG Boqiao, XIA Yuanchen

doi:10.16411/j.cnki.issn1006-7736.2024.02.007

Journal of Dalian Maritime University >

2024 , Vol. 50 >Issue 2: 67 - 74

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.007

Research on the mechanism and correction of the wandering movement offset of ship snake-like robot

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(College of Marine Engineering, Dalian Maritime University, Dalian 116026, China)

Online published: 2023-11-28

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Abstract

In response to the issue of deviation in the meandering motion of shipboard fire snake-like robots, which hinders their effective movement within the complex gaps of vessels, based on the kinematic model of the hyper-redundant snake-like robot, the nonlinear offset causes are analyzed from the kinematic and dynamic perspectives, which are caused by the torsional torque generated during the rotation process between the joints. The experimental results show the influence rules of the swing amplitude A and the phase difference β between the adjacent links on the normal offset of the robot, proving that the two parameters can only affect the degree of the normal offset of the robot, and cannot effectively eliminate the offset. Based on the Serpenoid control curve, a simple and efficient adaptive offset correction control algorithm is established, and Webots robot simulation and prototype experiments are carried out. The results show that the average maximum radial offset of the fire-fighting snake-like robot is reduced by 42.8cm, decreasing by 75.2%, meeting the work requirements of the narrow environment of the ship without changing the shape of the robot motion.

Key words： snake-like robot; migration mechanism; offset correction; Serpenoid control curve; motion control

Cite this article

YANG Dongran, ZHANG bin, ZHENG Qinggong, LI Xiaofeng, WANG Boqiao, XIA Yuanchen . Research on the mechanism and correction of the wandering movement offset of ship snake-like robot[J]. Journal of Dalian Maritime University, 2024 , 50(2) : 67 -74 . DOI: 10.16411/j.cnki.issn1006-7736.2024.02.007

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