一种绳驱蛇形臂机器人的设计方案  

Design Scheme of a Rope Driven Snake Arm Robot

作　　者：林晓辉 王程[1] LIN Xiaohui;WANG Cheng(Zhejiang University,Hangzhou,Zhejiang Province,310012 China)

机构地区：[1]浙江大学,浙江杭州310012

出　　处：《科技创新导报》2022年第27期147-150,共4页Science and Technology Innovation Herald

基　　金：国家重点研发计划(项目编号:2018YFB1306702);中央高校基本科研业务费专项资金资助(项目编号:226-2022-00016)。

摘　　要：近年来,随着核能、航空航天等领域的发展,复杂危险环境的狭小空间作业需求不断提升,传统的工业机器人受关节肘的约束,不便于进入狭小空间中进行作业。为应对这一需求,本文采用仿生学思路,仿照蛇形设计了一款绳驱式的蛇形臂机器人,采用电机驱动后置,三绳驱动与关节固连的形式,能够较好地实现狭小空间中的连续避障、探测及作业。In recent years,with the development of nuclear energy,aerospace and other fields,the demand for operation in narrow space in complex dangerous environment has been constantly increasing.Traditional industrial robots are restricted by joints and elbows,so it is not convenient for them to operate in narrow spaces.In order to cope with this demand,this paper adopts the bionics idea and imitates the snake shape to design a rope driven snake arm robot,which adopts the form of motor driven rear position and three ropes driving a joint to better realize continuous obstacle avoidance,detection and operation in a narrow space.

关 键 词：蛇形臂机器人 绳驱式 运动学 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]