一种伸缩蠕动步行机的研究分析  

Research and Analysis of a Stretch Peristalsising Walking Machine

作　　者：张璜炜 黄海英[1] 王克印[1] ZHANG Huang-wei;HUANG Hai-ying;WANG Ke-yin(Ordnance Engineering College,Department of Vehicle and Electrical Engineering,Hebei Shijiazhuang050003,China)

机构地区：[1]军械工程学院车辆与电气工程系

出　　处：《机械设计与制造》2019年第10期91-94,共4页Machinery Design & Manufacture

基　　金：军械工程学院原始创新基金课题资助(YSCX1203)

摘　　要：蠕动机器人因其特殊的爬行方式,在医疗卫生、探测救援和特种作业等场合具有较为广泛的运用前景。在模仿蛇类伸缩蠕动步态规划的基础上,提出了一种基于复合凸轮的伸缩蠕动步行机。在对步行机两足进行运动学分析后,利用ADAMS软件对单足的运动轨迹和步行机整体的运动进行仿真分析,利用3D打印技术构建原理样机并进行实测验证。模型仿真与实物实验结果表明,该步行机控制简单、运行精确、动作连贯无顿挫。以该步行机作为伸缩单元,结合转向俯仰装置,能够实现仿蛇蠕动机器人的行进、越障等动作。伸缩蠕动步行机的研究为仿蛇蠕动机器人的研发奠定了一定的技术基础。Peristaltic robots are widely used in medical and health,rescue and special operations because of their special crawling methods.In this paper,based on the simulation of the flexible motion gait of snake,a kind of telescopic walking machine based on composite CAM was proposed.After the bipedal walking machine was carried outthe kinematics analysis,the single foot trajectory and the wholemovement of walking robot was made on simulation analysis in using the ADAMS software,using 3D printing technology to construct principle prototype and verification on the site.The simulation and physical experiment results show that the walking machine has controlled simply,operated precisely and moved seamlessly.The walking machine is used as a telescopic unit and combined with a steering pitching device,it can realize the moving and surmounting and so on of the robot likes snake creeping.The research of telescopic walking machine has laid a certain technical foundation for the research and development of snake wriggle robot.

关 键 词：蠕动机器人 伸缩蠕动 复合凸轮机构 运用展望 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]