Analysis of airdrop and safe landing of the multi-joint snake robot

The snake robot is a multi-joint and link-type robot, and its joints are the weakest parts of the whole body. In order to deliver the snake robot designed with cross-type universal joint to the target area quickly and safely, the stability control of the falling speed of the airdrop snake robot and landing impact on the joints are mainly studied in this paper. An appropriate parachute is designed to control the falling speed of the robot. After the separation between the robot and parachute, the impact force and impact torque of 7 landing attitudes in different ways of joint constraints upon the joints are simulated by SimWise4d, and analyzed to find an optimal landing attitude. Then the maximum impact acceleration in this optimal landing attitude on whole body is analyzed to reduce the landing impact as more as possible. The simulation result provides the basis for the design of the landing attitude and joint optimization of the multi-joint and link-type robot, which has a great value to the airdrop and safe landing of this kind of robots.