蠕动爬行机器人结构设计与实验验证  

Structure design and experimental verification of peristaltic crawling robot

作　　者：张颖 朱兴龙[2] Zhang Ying;Zhu Xinglong(School of Electromechanical and Traffic Engineering,Nantong Vocational College of Science and Technology,Jiangsu Nantong,226007,China;School of Mechanical Engineering,Yangzhou University,Jiangsu Yangzhou,225127,China)

机构地区：[1]南通科技职业学院机电与交通工程学院,江苏南通226007 [2]扬州大学机械工程学院,江苏扬州225127

出　　处：《机械设计与制造工程》2023年第4期33-37,共5页Machine Design and Manufacturing Engineering

基　　金：扬州大学科技合作基金项目(YZ2020166)。

摘　　要：通过对蠕虫躯体结构及爬行机理的分析,提出了一种蠕动爬行机器人的总体方案。该机器人利用滚动摩阻小于滑动摩擦的原理,采用弹性储能和单向轮反向制动实现蠕动爬行、转向和抬头等。首先设计了控制体节、伸缩体节和单向轮系,然后对重要零部件进行了选择及分析计算,制造了实验样机,最后通过实验验证了蠕动爬行机器人总体方案的正确性和可行性。Based on the analysis of worm's body structure and crawling mechanism,a overall scheme of crawling robot is put forward.Based on the principle that rolling friction is less than sliding friction,elastic energy storage and one-way wheel reverse braking are used to realize the creep of the robot.The structural design of control body,telescopic body and unidirectional wheel train is completed,the important parts are selected and analyzed,and the experimental prototype of peristaltic crawling robot is manufactured,the correctness and feasibility of the overall scheme of the crawling robot are verified by experiments.

关 键 词：机器人 爬行机理 结构设计 实验 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]