Driving characteristic analysis and trial research of a wormlike crawling mechanism

A wormlike crawling mechanism is designed based on analysis of climbing principles of worms. First of all, the composing of squirming crawling mechanism is introduced and the work principles of squirming crawling and its crawling direction change and uplift are expounded. Because the mechanism is crawling slowly, statics equations of crawling mechanism are established on condition of ignoring effect of inertia force and considering nonslip condition between spherical surfaces of segments. Since the statics equations are a set of transcendental equation, with use of SWIFT (Sequential Weight Increasing Factor Technique) search algorithm, in which control force of the cord is given and nonslip condition between spherical surfaces of segments is regarded as restrictions and the uplifting angle maximum as functional extremum, the pose of the mechanism uplifting and the force of segments can be determined. Finally, the trial result of prototype validates the feasibility about crawling and crawling direction change and uplift of the segment.