Abstract
Bionics is a subject that studies various excellent performances such as the body structure, movement mode and information transmission of organisms in nature. The principles of these properties will give researchers a lot of new inspiration in terms of mechanical innovation. Provide new construction ideas for engineering manufacturing in practical applications. In this paper, according to the special fluid environment under water, the 3D model of the bionic snake-like robot with two degrees of freedom of pitch and yaw is drawn by using SolidWorks software. Then use the virtual prototype experimental platform Adams dynamics simulation software to analyze the kinematics state of the bionic snake-like robot. Simulate the motion state of each body module when the bionic snake-like robot snakes underwater. The simulation data results show that the overall structure of the bionic snake-like robot moves 0.8 m underwater and the average moving speed is 0.2 m/s. The maximum angular velocity in each module reaches 5.41 rad/s, the maximum angular acceleration reaches 34.9 rad/s<sup>2</sup> and the maximum rotational torque of the joint rotation mechanism reaches 0.08 N.m. During the whole test process, the bionic snake-like robot runs smoothly and the simulation experiment results provide theoretical data reference for the practical application of the prototype in the underwater environment in the future.
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