摘要
为使传统的蛇形机器人具有在不同环境下运动的能力,研究开发了一种具有蜿蜒步态和直线步态的多步态蛇形机器人。对机器人的运动原理、机械结构和控制系统做了介绍,并进行了仿真分析和实验验证。蜿蜒步态采用经典的Serpentine曲线,直线步态采用单驻波以及多驻波蠕动步态。机器人由7个单元模块顺序连接,每个单元模块上各设计了一个摇摆关节和直动关节,单元模块配置独立的锂电池供电、无线通信、电机驱动电路。整个单元模块在机械和电气上完全模块化。仿真中对影响机器人构型和前进速度等参数进行了分析和确定。实验表明,机器人运行可靠、软件控制直观方便,具有在平地上进行蜿蜒运动和直线运动的能力以及在狭窄的管道中进行直线运动的能力。
In order to apply traditional snake-like robot the ability to make locomotion in severe circumstance, a new kind of snake-like robot of multi gliding modes was invented. Locomotion principles, mechanical structures and control system are presented, along with simulation analysis and experiment. Multi gliding modes include serpentine locomotion and linear locomotion. The robot consists of seven units, each of them owns a swing joint and a linear joint and is connected by the swing joint to one another. The unit is powered by battery and equipped with wireless communication and Servo driving circuit. All of the seven units are modularly designed both mechanically and electrically, thus mechanical flexibility is attained. Some parameters are defined in the simulation. Tests indicate that the robot can perform serpentine locomotion and linear locomotion in flat surface and can also perform linear locomotion in narrow pipe.
出处
《机械设计与研究》
CSCD
北大核心
2014年第2期48-51,55,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(60905057)
上海市青年科技启明星计划资助项目(13QA1402200)
关键词
蛇形机器人
蜿蜓
直线
多步态
模块化
snake-like robot
serpentine
linear
multi gliding modes
modularization
