哈尔滨工业大学工学硕士学位论文 Abstract Bionics is a comprehensive discipline that combined with biological science and engineering technology,through learning,imitating,reproducing and recycling biological systems'structure,function,principle and control mechanism,bionics aims to improve and create new systems of machine and equipment.Bionics has extended to many fields and achieved a lot of useful results.This thesis mainly works on the bionic's snake. In the beginning,this thesis analyses the structure and the forms of the movements of natural snakes,introduces snakes'skeleton structure,the function of skins and four moving forms of snakes. According to the abstract framework of biological snakes'skeleton structure, a kind of orthogonal bionic snake structure is designed.In this structure,motor drives the adjacent joints to rotate,which is fastened on the one joint.Because of the orthogonal structure,this bionic snake can imitate snakes'movements,such as winding movement,peristalsis,lateral movement and head-rising movement. Further more,this snake-like robot can imitate rolling movement that natural snakes can not achieve.A structure of snake's head is also designed in this paper, head clamping action can be achieved in this structure. This thesis programs the winding movement,peristalsis,lateral movement, head-rising movement and rolling movement,finally gets the function of joint's angle.A PC-Wireless-UART-Master MCU-Slave MCU control system is designed in this paper,and all the facets of the control system are analyzed. Using ADAMS to do the kinematics and dynamics simulation of the forms of the bionic snake's movements.Kinematics simulation is mainly used to verify the reasonability of the programming and gain the imitating movie.Dynamics simulation is used to get the maximum torque of the joints,so as to verify whether the motor is contented. Keywords:bionic snake,configuration design,control system,movement programming,locomotion simulation哈尔滨工业大学工学硕士学位论文 - II - Abstract Bionics is a comprehensive discipline that combined with biological science and engineering technology ， through learning, imitating, reproducing and recycling biological systems’ structure, function, principle and control mechanism, bionics aims to improve and create new systems of machine and equipment. Bionics has extended to many fields and achieved a lot of useful results. This thesis mainly works on the bionic’s snake. In the beginning, this thesis analyses the structure and the forms of the movements of natural snakes, introduces snakes’ skeleton structure, the function of skins and four moving forms of snakes. According to the abstract framework of biological snakes’ skeleton structure, a kind of orthogonal bionic snake structure is designed. In this structure, motor drives the adjacent joints to rotate, which is fastened on the one joint. Because of the orthogonal structure, this bionic snake can imitate snakes’ movements, such as winding movement, peristalsis, lateral movement and head-rising movement. Further more, this snake-like robot can imitate rolling movement that natural snakes can not achieve. A structure of snake’s head is also designed in this paper, head clamping action can be achieved in this structure. This thesis programs the winding movement, peristalsis, lateral movement, head-rising movement and rolling movement, finally gets the function of joint's angle. A PC-Wireless-UART-Master MCU-Slave MCU control system is designed in this paper, and all the facets of the control system are analyzed. Using ADAMS to do the kinematics and dynamics simulation of the forms of the bionic snake’s movements. Kinematics simulation is mainly used to verify the reasonability of the programming and gain the imitating movie. Dynamics simulation is used to get the maximum torque of the joints, so as to verify whether the motor is contented. Keywords: bionic snake, configuration design, control system, movement programming, locomotion simulation