双Schatz机构爬行机器人  

A crawling robot based on double Schatz mechanism

作　　者：姚燕安[1] 姚舜[1] 刘超[1,2] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《北京交通大学学报》2015年第4期12-17,共6页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：国家自然科学基金资助项目(51175030);中国博士后科学基金资助项目(2013M531168);高等学校博士学科点专项科研基金(20130009110030)

摘　　要：以经典的Schatz机构为基础单元提出了一种新概念爬行移动机器人.基于Schatz机构的结构特点与运动分析,提出将两个Schatz机构组合成移动机器人的构型方案,对杆件的外形及电机的安装位置进行设计.通过分析将其置于平面内的移动机理,提出通过控制两个电机的相位差来控制其移动的控制方案,使用动力学仿真软件建立虚拟样机在设定的场地内进行仿真实验,探索移动规律.基于移动规律验证控制其移动的控制方案的可行性,进而研究控制机器人完成定点运动的控制策略,通过实验验证了设计制作样机理论分析及研究的正确性.Based on the classical Schatz mechanism, a kind of new-concept crawling robot is presented. Firstly, the scheme of the mobile robot is presented considering the structural characteristics and the movement analyses of the Schatz mechanism, and the shape of rods and the placement of the actuators are designed. Secondly, the moving principle is analyzed and the controlling method is proposed. Thirdly, the simulation experiments are carried out using dynamic software to find out the robot mov- ing rule. Fourthly, the method of navigating the robot by controlling the difference between the actua- tors is figured out. The controlling strategies are studied, which enable the mechanism to move freely in the plane. Finally, a prototype for experiments is manufactured and the analysis and research are testified by the experimental results.

关 键 词：爬行机器人 Schatz机构 空间6R机构 

分 类 号：TH122[机械工程—机械设计及理论]