| Summary: | A snake like robot model based on new involute spherical gear is proposed. Firstly,the structure and working principle of snake like robot are introduced,the structural characteristics of 3D printing involute spherical meshing gears are analyzed. The design and analysis of a single bone joint with real time controllable yaw angle and position composed of yaw unit and driving unit are carried out. Then,the position coordinates of snake like robot with 5 bone nodes are analyzed. Finally,the movement of single bone and snake like robot is simulated and the motion simulation and experiment of single bone joint real object are carried out. The results show that the design is feasible and effective.
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