The Motion Planning Research of Bionic Worming Crawling

Abstract

On the basis of the PYR type joint kinematics, redundant manipulator motion planning and bionic motion about surrounded grasping, creeping crawling, serpentine movement is researched. The motion planning of the mechanical arm by grab and surrounded was carried out based on geometric analysis. The grasping operation model meets the operation conditions. According to the creeping, serpentine movement of the bionic motion principle, the 5 section of 11 degree of freedom, the bionic worming crawling and the snake like motion planning about 8 joints and 17 degrees of freedom mechanical arm were given, combined with a full range of joint mechanism design and kinematics theory.