气动蠕动爬杆机器人  

Pneumatic Squirm Pole-Climbing Robot

作　　者：徐生[1] 张立彬[1] 杨庆华[1] 董晓伟[1] 鲍官军[1] 沈建冰[1] 

机构地区：[1]浙江工业大学机电研究所,浙江杭州310014

出　　处：《机械工程师》2004年第3期36-38,共3页Mechanical Engineer

摘　　要：提出了一种以气压驱动的蠕动爬杆机器人的设计方案。该方案以气缸活塞的运动带动连杆机构运动,实现机器人对圆柱杆的夹紧;用橡胶驱动器连接上下两个夹紧机构,利用橡胶管在气压作用下的伸缩性,配合夹紧机构,实现机器人以蠕动方式爬升圆柱杆;具体分析了该机器人的夹紧和蠕动功能实现的原理。This paper presents a design scheme of robot which is driven by gas. In this scheme, the crank structure is driven by the piston clutches the pole, Two crank structure are approached by a latex driver, which can flex under air pressure, when the crank structure and latex driver operate together, robot can squirms up and down. And this paper analyses on function the principle of clutching and squirming concretely.

关 键 词：机器人 蠕动 连杆机构 气动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]