蠕动式机器蛇的研究与开发  

STUDY AND DEVELOP OF SNAKE-ROBOT WITH CONCERTINA-LOCOMOTION

作　　者：张佳帆[1] 杨灿军[1] 陈鹰[1] 马培荪[2] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,杭州310027 [2]上海交通大学机器人研究所,上海200030

出　　处：《机械工程学报》2005年第5期205-209,共5页Journal of Mechanical Engineering

摘　　要：通过对自然界中蛇的骨架结构和运动机理进行分析,提出了一种新型的机器蛇执行单元结构,可根据不同的运动模式,实现不同的连接方式,同时采用了模块化的控制系统,实现了结构上的互换。并在此基础上建立了机器蛇的运动学模型,规划了机器蛇的蠕动步态,实现了机器蛇向前向后的蠕动运动,并且通过试验证明其机械结构和运动模型的可行性。By analyzing the locomotion and the skeleton of the snake, a new kind structure of implement-unit, which can be assembled in different style in terms of the different motion, and control-system for snake-robot have been presented, which is modularized and can be interchanged. The kinematical model of the snake-robot has been built up and the gaitfor concertina-motion has also been planned. Forward and backward concertina-motion has been implemented. Via the experiment, the feasibility of the mechanism and the kinematical model has been proved.

关 键 词：机器蛇 执行单元 控制系统 蠕动 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]