摘要
为使蛇形机器人的结构和运动形式能够适应各种复杂环境,研究了蛇形机器人运动性能与环境的关系及其运动控制,设计了一种单被动轮为接触面的正交串联蛇形机器人,分析了蛇形曲线参数对其运动的影响,通过实验研究了摩擦系数对其运动步态的影响,得出了蛇形机器人的前行速率随蛇形曲线参数α的增大而增大,随摩擦系数μ的增大而减小的结论,以及蛇形曲线步态参数的调节策略。
Snake-like robots＇ motion control and the relationship between their motion ability and motion environment were studied for the design to make a snake-like robot＇ s structure and movements adapt to a variety of complex en- vironments. For the study, a snake-like robot with a passive wheel as the contacting surface on orthogonal connec- tion joint was designed, and then, the influence of serpeniod curve parameters on the robot＇ s motion was analyzed, and the influence of the friction coefficient on its motion was investigated by experiments, resulting in the conclu- sion that the moving speed of a snake-like robot increases with the increase of the serpeniod curve parameter or, while it decreases with the increase of the friction coeficient, as well as the strategy for modulation of serpeniod curve parameters.
出处
《高技术通讯》
CAS
CSCD
北大核心
2015年第3期293-299,共7页
Chinese High Technology Letters
基金
国家自然科学基金(61473283)
机器人学国家重点实验室开放基金(2014-008)
校新引进教师科研启动项目(XZ1306,QZ1101)
葡萄牙科技部基金(CIENCIA2007)资助项目
关键词
蛇形机器人
被动轮设计
摩擦系数
蜿蜒运动
snake-like robot, passive wheel design, frictional coefficient, serpentine locomotion
