蛇形机器人的耦合驱动模块化单元设计  

Coupled-actuation modular universal unit (MUU) of snake-like robot

作　　者：叶长龙[1] 关鼎[1] 

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110023

出　　处：《沈阳工业大学学报》2004年第5期528-530,共3页Journal of Shenyang University of Technology

摘　　要：介绍了新型蛇形机器人关节单元,该单元是模块化万向单元(MUU),由该单元可以组装成一个三维蛇形机器人.每个MUU具有三个自由度,并用差动机构实现耦合驱动.该MUU的优点是能够通过耦合机械产生较大的力矩,有利于蛇形机器人的越障和运动,有更大的灵活性、适应性,并可完成非自然蛇的运动方式,特别是回转自由度可使蛇形机器人根据不同的运动环境来更换皮肤从而达到更高的运动效率,此自由度可以在蛇形机器人攀爬过程中起驱动作用.该单元连接简单易于实现可重构.In this paper,we design a new type of joint mechanism,which is a modular universal unit (we call it MUU hereinafter).By connecting them,we can build a 3 dimensional snake-like robot.Each MUU has three degrees of freedom;its coupled motion can be achieved by means of differential driving system.The advantage of the mechanism is that the MUU can change the arrangement of its 3 degrees of freedom in order to get larger torque in corresponding direction benefiting to climbing.The snake-like robot that consits of a series of MUU has more flexibility such as it can perform the natural snake locomotion.The unnatural motion can also be achieved by this mechanism,since the unit is reconfigurable.Other reconfigurable structures are also described and some applications are presented in this paper.

关 键 词：蛇形机器人 模块化万向单元 可重构 耦合驱动 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]