中文摘要：

介绍了蛇形机器人运动模式的研究现状并提出了一种进行外攀爬的蛇形机器人结构，该蛇形机器人有16个P—R-T模块单元，P—R-T模块是一种在P-R模块的基础上添加一个平移运动组件的模块。这种结构使得该机器人姿态调整运动与前进运动分离开来，使机器人运动控制更加简便。基于这种结构对蛇形机器人进行了运动学建模，通过对其越障运动规划与各P-R关节位置及关节转角的分析，提出了一种攀爬蛇形机器人越障方法。通过MATLAB软件进行攀爬蛇形机器人道障仿真，验证了越障方法的正确性。

英文摘要：

It describes the status of the movement pattern of the snake-like robot and proposes a snake-like robot which can be used for out-climbing. This snake-like robot contains 16 P-R modular units and each unit contains a component which makes the snake-like robot achieve translational motion. This kind of structure makes the posture adjustment motion separate from forward motion. Thus the robot will move efficiently and be easy to control. A kinematics modeling of the snake-like robot is built based on this structure. By analyzing its obstacle motion planning and each P-R joint＇s position ,a method to calculate joint Angle when the joint position is known is proposed and a obstacle-navigation method of the climbing snake-like robot is proposed~ By using the MATLAB software to simulate obstacle-navigation of the climbing snake-like robot, the calculation method of the joint angle and the obstacle-navigation method are verified.