With the proposal of the"double carbon"goal,the nuclear energy industry has ushered in an explosive period of multi-purpose utilization.At the same time,nuclear power safety has become a focus that cannot be ignored.Intelligent robots participating in nuclear environment operations can better improve the safety level of nuclear power,but traditional robots are not dexterous enough and most lack perception functions.Snake robot is a new type of bionic robot.By drawing on the biological characteristics and movement characteristics of snakes,the robot can achieve multi-gait movements in complex environments.It can be used for on-site environmental detection of nuclear accidents,regional monitoring,removal of radioactive pollutants,and nuclear pipelines.Maintenance etc.Based on the principles of bionics,this article reviews the current status of snake-shaped robot entities and theoretical development,including its application prospects in the field of nuclear energy.The snake-shaped robot entities are divided into three types:rigid,rigid-flexible,and flexible.Review and analyze theoretical research on snake-like robot modeling methods,motion control,navigation and positioning.In particular,the potential applications of snake-like robots in nuclear power are prospected,highlighting some key issues for their future development.We aim to provide a reference for the research and application of snake robots,especially innovative applications in the field of nuclear technology.
关键词
蛇形机器人/核电领域/建模方法/运动控制/导航定位
Key words
snake robot/nuclear power field/modeling methods/motion control/navigation positioning
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