一种拉线式蛇形机器人设计与研究  

Structural research and design of a cable-driven snake-like robot

作　　者：焦海坤[1] 张添一 谢哲东[1] Jiao Haikun;Zhang Tianyi;Xie Zhedong(J ilin Agricultural University College of Engineering,Technology,Changchun,130118,China)

机构地区：[1]吉林农业大学工程技术学院,长春市130118

出　　处：《中国农机化学报》2018年第8期33-36,共4页Journal of Chinese Agricultural Mechanization

摘　　要：蛇形机器人属于智能机器人的一种。通过对生物蛇的身形结构、爬行方式进行分析,对超冗余自由度进行合理匹配。提出一种拉线控制关节蛇形机器人,选择十字轴关节俯仰和侧航两个自由度并简化关节结构,具备空间灵活性强,响应快,成本低等优点。对运动控制系统进行初步设计,本着模块化、轻量化设计理念,对关节和驱动单元模块进行结构设计,并利用CATIA软件对整体机进行虚拟装配姿态仿真,测出实现蛇形机器人三维运动的所需主要尺寸参数,对质量进行估算。Snake-like robot belongs to intelligent robot.Its Hyper-redundant is matching and rational through analysis body structure and motion characteristics of snake.In order to simplify the joint,a kind of snake-like robot is designed,which chooses cross axis joint structure and has two degrees of freedom with pitch and yaw.The snake-like robot has the advantages of strong spatial flexibility,quick response and low cost etc.Preliminary design kinetic control system and structure of joints and drive unit module,which is based on the concept of modular and lightweight,simulate the virtual assembly of the whole machine attitude by the CATIA software,measure the main size of snake-like robot,when it realizes three-dimensional motion and estimate the quality.

关 键 词：蛇形机器人 结构设计 拉线 十字轴关节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]