模仿蛇在水中游动,设计了蛇形机器人仿真模型.通过蛇形曲线控制该机器人在动力学仿真水环境中实现蜿蜒游动.实验分析了蛇形曲线公式中起始弯角、S波个数、弧长变化率对蜿蜒游动性能的影响.实验结果表明:在一定范围内,增大蛇形曲线公式中起始弯角、S波个数、弧长变化率等参数的值,蛇形机器人的蜿蜒游动速率也随着增加. The imitative snake swims in the water and designs a serpentine robot simulation model.The snake-shaped curve controls the robot to realize the meandering swimming in the dynamic simulation water environment.The starting curve angle, S wave The number of arc length change rate on the meandering swimming performance.The experimental results show that: in a certain range, increasing the value of the starting angle, the number of S waves, the rate of change of arc length and other parameters in the serpentine curve formula, Serpentine robot meandering swimming rate also increases.