Study on mechanism of a mobile robot used unstructured environment

Based on the idea of snake-like robot, a novel mobile mechanism used in unstructured environment is proposed, which aims to solve the problems that a mobile robot must faced in unstructured environment such as viability, stability, flexibility and capability of climbing obstacles etc. By analyzing the kinematic mechanism of robot and several types of its special motions, the kinematic model is achieved. A specified method for the global torque distribution by torque control on single joint is introduced. Further more statics analysis shows that the newstyle mechanism along with its specified torque-control method is realizable and superior to snake-like mechanism. Computer simulation confirms the validity