摘要
蛇形机器人是仿照生物蛇的结构特点而研制的一种仿生机器人。相对于足式、轮式、履带式等移动机器人,蛇形机器人具备体积小、运动形式多样、地面适应性强等优点,在灾后救援、军事侦察、矿山农林等领域有广阔应用前景。从功能特性和运动环境两方面对蛇形机器人的研究现状进行分析,并对蛇形机器人常用单元接连结构进行介绍,对基本参数进行分析,同时给出蛇形机器人控制系统。
The snake-shaped robot is a biomimetic robot developed by imitating the structural characteristic of the biological snake.Compared with foot-type,wheel-type,track-type and other mobile robots,the snake-shaped robot has the advantages of small size,various forms of movement,strong ground adaptability,etc.,and has a broad application prospect in the fields of post-disaster rescue,military reconnaissance,mining,agriculture,forestry and so on.The current research status of the snake-shaped robot was analyzed from the aspects of functional characteristic and motion environment,and the commonly used unit-connected structure of the snake-shaped robot was introduced.In addition,the basic parameters were analyzed,and the control system of the snake-shaped robot was given.
作者
商锦萍
易飞
Shang Jinping;Yi Fei
出处
《机械制造》
2023年第10期5-7,共3页
Machinery
关键词
蛇形机器人
研究
进展
Snake-shaped robot
Research
Progress
