套索驱动细长机器人的初步设计与试验  

Tendon-sheath actuated long and slender robot:preliminary design and performance

作　　者：陈林[1] 奚如如[1] 王兴松[1] 

机构地区：[1]东南大学机械工程学院,江苏南京211189

出　　处：《机电工程》2011年第3期260-264,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(50875044);江苏省自然科学基金资助项目(BK2008310)

摘　　要：为了解决在地震后废墟内部搜救幸存者的问题,设计了一种细长柔软机器人。机器人采用了套索传动的方式,使机器人操作部分的尺寸和重量相对于其他搜救机器人大大减小。机器人由头部可操作部分和细长柔软身体组成,可运动的操作部分采用模块化的设计,可根据实际需要改变关节的数量。实验结果表明,机器人能初步完成搜救任务。In order to solve the problem of search and rescue the victims under debris,a novel designed long and slender robot was introduced.With tendon-sheath transmission mechanism,actuators and joints were separated,thus the work part of the robot is lightweight and has a small size.The robot was mainly composed of a steering head and a long and slender body.The steering head was modular designed and the number of its joints can be changed quickly according to the needs.The experiment results validate its effectiveness.

关 键 词：搜救机器人 套索传动系统 模块化关节 

分 类 号：TH122[机械工程—机械设计及理论] TH112