摘要
研制了一种分布式能量供给蛇形机器人系统,该蛇形机器人系统由模块化单元组成,每个模块单元集电源、驱动器和传感器于一体,具备完全自治运动功能;蛇形机器人的头部具有无线数据接口、视觉和超声波传感器,可以实现对外数据连接和环境监测;蛇形机器.人的尾部具有充电接口,可实现为各个模块和蛇头充电。蛇形机器人具备体积小、重量轻、稳定性高等优点。基于总线控制的模块化结构,可以采用分布式控制方法,实现蛇形机器人平面蜿蜒运动、抬头、翘尾、侧翻等运动形式。
In this paper,an autonomous snake robot system with distributed energy supply is developed.The snake robot system is composed of modular units.Each module unit integrates power,driver and sensor,and has full autonomous motion function.The snake robot head has wireless data interface,visual and ultrasonic sensors for external data connection and environmental monitoring;the charging port at the rear allows charging of individual modules and snake heads.Snake robot has the advantages of small size,light weight and high stability.The distributed control method is used to realize the plane serpenoid motion and special movement forms such as head lifting,tail lifting and side turning of the snake robot.
作者
方子鸣
陈丽
梁为升
范辰运
陈紫延
顾中炜
顾文康
FANG Ziming;CHEN Li;LIANG Weisheng;FAN Chenyun;CHEN Ziyan;GU Zhongwei;GU Wenkang(School of Air Transportation,Shanghai University of Engineering Science,Shanghai 201620,China;Shanghai An Wu Intelligent Technology Co・,Ltd.,Shanghai 201415,China)
出处
《机械》
2020年第11期24-29,共6页
Machinery
基金
上海市大学生创新项目(CS1908002)。
关键词
蛇形机器人
分布式能量供给
自治模块
蜿蜒运动
snake robot
distributed energy supply
autonomous module
serpenoid motion
