救援勘测仿生机械蛇的结构设计与实验研究  

Structural Design and Experimental Study of Biomimetic Mechanical Snake for Rescue Survey

作　　者：雷先华 陈星光 周衡捷 禹乾峰 欧阳尘柯 何立权 LEI Xianhua;CHEN Xingguang;ZHOU Hengjie;YU Qianfeng;OUYANG Chenke;HE Liquan(Hunan Institute of Traffic Engineering,Hengyang 421000,China;Hunan University,Chansha 410082,China)

机构地区：[1]湖南交通工程学院,湖南衡阳421000 [2]湖南大学,湖南长沙410082

出　　处：《机械》2025年第3期74-80,共7页Machinery

基　　金：大学生创新创业训练计划项目(1.汽车智能电磁悬挂控制系统的研究,2.轻材创新,行车未来,3.基于电力驱动河流小型垃圾处理装置设计);湖南省教学改革研究项目——新工科背景下汽车构造一流课程建设实践(202401000154)。

摘　　要：蛇形机器人在废墟救援、管道检测、危地探险等领域应用前景广阔。本文研究的“救援勘测仿生机械蛇”采用仿凸凹骨架正交舵机关节和履带式蛇头蛇尾的创新结构设计,通过仿生蛇的履带式、弯蜒式、伸缩式等运动形态,来实现在各种复杂恶劣环境中达到勘察救援智能化的目的。采用D-H模型对蛇形机器人正逆向运动进行正解分析,利用SolidWorks进行建模设计,最后进行救援勘测现场模拟实验,实验数据表明,在各种复杂环境中,仿生机械蛇其关节活动角度基本可以达到最大范围限制(±45°);可跨越障碍物最大高度201 mm;在空间100 mm直径管道中,仍然可以有效进行工作。Snake robots have broad prospects in debris rescue,pipeline detection,hazard exploration and other applications.In this paper,the biomimetic mechanical snake for rescue survey adopts the innovative structure design of orthogonal steering machine joint and crawler type snake head and tail.Through biomimetic snake movements in crawler,winding and telescopic forms,etc.,,intelligent survey and rescue in various complex and harsh environments can be achieved.The D-H model is used to analyze the forward and backward motion of the snake robot and SolidWorks is applied to model the structure of biomimetic mechanical snake in rescue survey.Finally the rescue survey field simulation experiment is conducted.The experimental data show that the joint activity angle of biomimetic mechanical snake in various complex environments can basically reach the maximum range limit(±45°).It can cross the obstacle with the maximum height of 201 mm.It can work effectively in the 100 mm diameter pipeline.

关 键 词：蛇形机器人 救援勘测 创新型结构设计 D-H模型正解分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]