八关节三动杆蛇形机器人的运动模拟  

a Kinematics Analysis for a Snake-like Robot

作　　者：何海东[1] 王光荣[1] 曹志奎[1] 

机构地区：[1]上海交通大学

出　　处：《传动技术》2004年第4期31-34,共4页Drive System Technique

摘　　要：蛇形机器人是一种高冗余度的机器人,由于其结构可变形,能够通过松软地面以及跨越(或避开)障碍物,能代替人完成某些危险场所如核电厂等维修及城市搜救。本文提出了一种类正弦波形的八关节三动杆蛇形机器人结构,做了运动模拟并给出了结论,该蛇形机器人的研制成功为设计相关类型的机器人提供了参考。Snake-like robot is a hype-redundant robot. It has ability of passing through soft land and crossing obstacles for its flexible structure. In some cases, it also can replace human to repair in the dangerous place such as nuclear power station and urban search. The article puts forward a sinus wave snake-like eight-joint three-articulated-pin robot and gives its kinematics analysis, the successfully design of the robot gives a reference to research the similar robot.

关 键 词：蛇形机器人 运动模拟 

分 类 号：TH112.1[机械工程—机械设计及理论]