Analysis and Optimization Based on Factors Affecting the Spiral Climbing Locomotion of Snake-like Robot

The snake-like robot is a limbless bionic widely used in unstructured environments to perform tasks with substantial functional flexibility and environmental adaptability complex environments. In this paper, the spiral climbing motion of on outer surface cylindrical object was studied based three-dimensional biological snake, we carried out analysis optimization motion-influencing factors. First, implemented by angle control method, target analyzed combining numerical simulations. We integrated influence kinematics dynamics factors motion. Based this, established multi-objective function that utilized optimize joint module. addition, through simulation analysis, change general clamping force robot’s transformed into contact between module cylinder. On basis results, effect strategy adopted paper rule analyzed. This presents motion, which great theoretical significance engineering value for realization robot.