一种基于空间连杆机构的蛇形机器人  

A Snake-like Robot Based on Spatial Linkage Mechanism

作　　者：赵铁石[1] 林永光[1] 缪磊[1] 王春雨[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机器人》2006年第6期629-635,共7页Robot

基　　金：国家自然科学基金资助项目(50375134)

摘　　要：提出了一种基于空间连杆机构的蛇形机器人模型.该蛇形机器人各骨节间通过万向铰链连接,每节安装两个微型伺服电机,电机带动曲柄转动,曲柄经两端为球铰的连杆驱动另一骨节运动.通过两个电机的耦合驱动,该蛇形机器人能实现蜿蜒爬行、转向、抬头等多种运动方式.文中给出了该空间连杆机构的运动学解,基于Serpenoid曲线计算得到了实际控制所需的关节转角和步数,并编程实现了上述运动方式.A novel model of snake-like robot based on a spatial linkage mechanism is presented. Each module of this model has two micro servo motors which are linked by universal joints. The two motors drive two cranks, and the two cranks drive another module by two links with two spherical joints. Man）＂ motion modes including wriggling in sine wave, swerving left, swerving right and uplifting head are available by coupled actuation of the two motors on each module. The kinematics of the spatial linkage mechanism is presented. Joint＇ s angles and pulses can be calculated based on Serpenoid curves, and then three basic motion modes are realized by programming.

关 键 词：蛇形机器人 空间机构 运动方式 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]