Abstract：In view of the complexity of the driving mechanism, the large volume of the whole machine and the difficulty of modeling, a novel snake arm robot is proposed. Driven by a lever structure, the proposed robot uses a servo motor to control two driving ropes simultaneously, and thus the number of driving mechanisms and energy consumption are reduced. Orthogonal joints are used to realize closed-loop position control and simplify kinematic model. Further, tip following control and closed-loop position control are proposed to fit the different working environments. The former can improve the flexibility of the robot and simplify the control, while the latter can realize spatial repositioning control. Finally, the experiments show that the robot design is rational and the control method is effective.
[1] 赵铁石，林永光，缪磊，等.一种基于空间连杆机构的蛇形机器人 [J].机器人，2006，28(6)：629-635. Zhao T S, Lin Y G, Miao L, et al. A snake-like robot based on spatial linkage mechanism[J]. Robot, 2006, 28(6): 629-635.
[2] Maxon motor company. Maxon motor application[EB/OL]. [2012-10-01]. http://www.maxonmotor.com.cn/maxon/view/application/SNAKE-ARM-ROBOT-AB.
[3] OC Robotics company. OC robotics case studies[EB/OL]. [2015-10-01]. http://www.ocrobotics.com/case-studies/nuclear/.
[4] 姚艳彬，杜兆才，魏志强.蛇形臂机器人装配系统研究 [J].航空制造技术，2015，491(21)：26-30. Yao Y B, Du Z C, Wei Z Q. Research on snake-arm robot assembly system[J]. Aeronautical Manufacturing Technology, 2015, 491(21): 26-30.
[5] Ota T, Degani A, Schwartzman D, et al. A highly articulated robotic surgical system for minimally invasive surgery[J]. The Annals of Thoracic Surgery, 2009, 87(4): 1253-1256.
[6] 高庆吉，王维娟，牛国臣，等.飞机油箱检查机器人的仿生结构及运动学研究 [J].航空学报，2013，34(7)：1748-1756. Gao Q J, Wang W J, Niu G C, et al. Study of bionic structure and kinematics of robot for aircraft fuel tank inspection[J]. Acta Aeronautica et Astronautica Sinica, 2013, 34(7): 1748-1756.
[7] 俞晓瑾.柔性机械臂的运动学和动力学建模及视觉伺服控制 [D].上海：上海交通大学，2013. Yu X J. The kinematics and dynamics modeling and visual servo control for soft robotic manipulator[D]. Shanghai: Shanghai Jiao Tong University, 2013.
[8] Tran L D, Zhang Z, Yeo S H. Control of a cable-driven 2-DOF joint module with a flexible backbone[C]//IEEE Conference on Sustainable Utilization and Development in Engineering and Technology. Piscataway, USA: IEEE, 2011: 150-155.
[9] 袁伟，魏志强，邹方，等.一种欠驱动蛇形臂机器人运动学分析方法 [J].机械与电子，2014(11)：65-68. Yuan W, Wei Z Q, Zou F, et al. Kinematical analysis of an underactuated snake arm robot[J]. Machinery & Electronics, 2014(11): 65-68.
[10] Webster R J III, Jones B A. Design and kinematic modeling of constant curvature continuum robots: A review[J]. International Journal of Robotics Research, 2010, 29(13): 1661-1683.
[11] 胡海燕，王鹏飞，孙立宁，等.线驱动连续型机器人的运动学分析与仿真 [J].机械工程学报，2010, 46(19): 1-8. Hu H Y, Wang P F, Sun L N, et al. Kinematic analysis and simulation for cable-driven continuum robot[J]. \columnbreakJournal of Mechanical Engineering, 2010, 46(19): 1-8.
[12] Denavit J, Hartenberg R S. A kinematic notation for lower-pair mechanisms based on matrices[J]. Journal of Applied Mechanics, 1955, 22(2): 215-221.
[13] Hu H Y, Wang P F, Zhao B, et al. Design of a novel snake-like robotic colonoscope[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA: IEEE, 2009: 1957-1961.
[14] Escande C, Chettibi T, Merzouki R et al. Kinematic calibration of a multisection bionic manipulator[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(2): 663-674.
[15] 孙立宁，胡海燕，李满天.连续型机器人研究综述 [J].机器人，2010，32(5)：688-694. Sun L N, Hu H Y, Li M T. A review on continuum robot[J]. Robot, 2010, 32(5): 688-694.
