一种蛇形机器人的结构设计与研制  

Structural Design and Development of Snake-Like Robots

作　　者：肖婷婷[1] 刘明哲[1] 柳炳琦 王磊[1] 成毅[1] 杨剑波[1] 

机构地区：[1]成都理工大学核技术与自动化工程学院,四川成都610059

出　　处：《测控技术》2016年第6期75-78,共4页Measurement & Control Technology

摘　　要：蛇形机器人(以下简称机器蛇)因其身体细长和环境适应能力强的优点被广泛应用于不适宜人类工作的领域。介绍了一种仿生机器蛇的设计与制作。设计时选用体积小、动力足的P0090舵机作为机器蛇驱动,Atmega128和Atmega8单片机作为控制器。HPD8506A作为无线数据发射模块,完成PC与机器蛇的数据传输。根据舵机尺寸逆向设计关节、蛇头和蛇尾,采用正交关节连接方式装配,实现机器蛇蜿蜒、蠕动等多步态的移动,加载的红外避障传感器保障了机器蛇能安全躲避障碍物。此系统的研究为今后机器蛇在狭小管道或高空缆绳上攀爬并完成检测任务奠定基础。Because of the slender body and environmental adaptability,the snake-like robots is widely used in such kind of areas where it is difficult for people to approach.The procedure of design and development of a bionic snake-like robot is described.A small and powerful steering gear named P0090 is taken as a snake-like robot driver,Atmega128 and Atmega8 microcontrollers are selected as a controller.Then a wireless module named HPD8506A is used to transmit some information.The close joints are perpendicular to each other.The snake-like robot can wiggle and wriggle on the ground.The infrared obstacle avoidance sensors can protect the robot to avoid obstacles safely.The advent of the snake-like robots may help people to complete some dangerous works in the narrow pipes or climbing along aerial cables.

关 键 词：蛇形机器人 AVR单片机 步态控制 无线传输 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]