并联式蠕虫机器人的结构设计与实现  

Structure Design and Implementation of Parallel Worm Robot

作　　者：张博[1] 续裕新 杨海江 郭泽安 张艺杰 孙靖 ZHANG Bo;XU Yu-xin;YANG Hai-jiang;GUO Ze-an;ZHANG Yi-jie;SUN Jing(Department of Mechanotronics and Vehicle Engineering,Taiyuan University,Taiyuan 030032,China)

机构地区：[1]太原学院机电与车辆工程系,山西太原030032

出　　处：《机械工程与自动化》2023年第4期30-32,共3页Mechanical Engineering & Automation

基　　金：山西省高等学校大学生创新创业训练计划项目(20221322);太原学院大学生创新创业训练计划项目(TYX2022024);太原学院教学改革创新项目(jg202211)。

摘　　要：为了在地震、台风等自然灾害中有效地实施救援,降低灾后伤亡率,设计了一种用于抗震救灾的并联式蠕虫机器人。该机器人采用并联式机构,通过电推杆的伸缩运动实现对蠕虫动作的模仿。运用SolidWorks建立该机器人的三维模型,并进行试验验证。结果表明:该机器人可顺利实现前进、后退及转弯等运动;通过搭载感应拓展模块即可应对错综复杂的工作环境,具有良好的灵活性和环境适应性;能够实现人-机-环境的交互,可达到预期目的,具备一定的实用价值。In order to effectively implement rescue and reduce the casualty rate in earthquake,typhoon and other natural disasters,a parallel worm robot for earthquake relief was designed.The robot adopts the design method of parallel mechanism and imitates the movement of worm through the telescopic movement of electric push rods.The 3D model of the robot was built by SolidWorks,and the experiment was done.The results show that the robot can move forward,move backward,and turn smoothly.It can cope with the complex working environment by carrying the induction expansion module,which has good flexibility and environmental adaptability.It can realize human-machine-environment interaction,which can achieve the expected purpose and has certain practical value.

关 键 词：并联式蠕虫机器人 控制系统 机械结构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]