Design and Kinematics Analysis of Tensioning Integral Robot

Abstract

In the past two decades, the technology of robots has developed rapidly. With the enrichment of social needs and applications, the functions of robots have become diversified. The tension-integrated robot designed in this paper is based on the British OC Robotics Series II X125 robot for mechanism design. The mathematical model of the tension-integrated robot is derived, and the kinematic simulation is carried out by Adams and Matlab to verify the correctness of the mathematical model, and the kinematic analysis of the tension-integrated robot is carried out. Firstly, the development and research status of tensioning integral robot is briefly summarized. Because the shape of the tensioning integral robot designed in this paper is similar to that of a snake, the development, structural characteristics and research status of the snake robot are summarized. Secondly, according to the application requirements of the tensioned integral robot, the functions and performance indexes of the tensioned integral robot are analyzed, and the overall structure of the tensioned integral robot is designed, including the body structure of the snake robot, the driving mechanism and the base. The serpentine arm of the serpentine robot is a serpentine structure with twelve joints connected in series. Finally, the mathematical model of the snake robot is derived, and the kinematic simulation of the snake robot is carried out by Adams and Matlab respectively. The obtained image results are the same, which proves that the mathematical model of the snake robot is correctly derived, laying a foundation for further research.