摘要
针对蛇形机器人三维空间运动能力不足的问题,研究设计一种新型蛇形机器人的机构。首先,基于生物蛇在三维空间中的运动模式,采用SolidWorks软件设计蛇形机器人的蛇头、蛇身和蛇尾结构。然后,利用Ansys workbench软件进行蛇形机器人的受力分析,确保各个关节的受力强度并发挥最佳的力学性能。最后,基于Serpenoid的控制函数,利用Adams分析了各参数对蛇形机器人运动步态的影响,为智能蛇形机器人的研究与开发提供理论参考,具有较高的实际应用和推广价值。
Aiming at the problem of insufficient three-dimensional space motion ability of snake robot,a new mechanism of snake robot is studied and designed.Firstly,based on the movement mode of biological snake in three-dimensional space,SolidWorks software is used to design the snake head,snake body and snake tail structure of snake robot.Then,the force analysis of the snake robot is carried out by using Ansys workbench software to ensure the force strength of each joint and give full play to the best mechanical property.Finally,based on Serpenoid’s control function,Adams is used to analyze the influence of various parameters on the gait of snake robot,which provides a theoretical reference for the research and development of intelligent snake robot,and has high practical application and promotion value.
作者
柳炳琦
任米鑫
郑瑞
唐羽峰
LIU Bingqi;REN Mixin;ZHENG Rui;TANG Yufeng(Chengdu University,Chengdu 610106,China)
出处
《现代信息科技》
2022年第12期156-158,164,共4页
Modern Information Technology
基金
青年基金项目(4210040255)。
