| 一种基于空间连杆机构的蛇形机器人 |
| |
| 引用本文： | 赵铁石,林永光,缪磊,王春雨.一种基于空间连杆机构的蛇形机器人[J].机器人,2006,28(6):629-635. |
| |
| 作者姓名： | 赵铁石 林永光 缪磊 王春雨 |
| |
| 作者单位： | 燕山大学机械工程学院,河北,秦皇岛,066004 |
| |
| 摘 要： | 提出了一种基于空间连杆机构的蛇形机器人模型．该蛇形机器人各骨节间通过万向铰链连接，每节安装两个微型伺服电机，电机带动曲柄转动，曲柄经两端为球铰的连杆驱动另一骨节运动．通过两个电机的耦合驱动，该蛇形机器人能实现蜿蜒爬行、转向、抬头等多种运动方式．文中给出了该空间连杆机构的运动学解，基于Serpenoid曲线计算得到了实际控制所需的关节转角和步数，并编程实现了上述运动方式．
|
| 关 键 词： | 蛇形机器人 空间机构 运动方式 |
| 文章编号： | 1002-0046（2006）06-0629-07 |
| 收稿时间： | 2006-01-04 |
| 修稿时间： | 2006-01-04 |
A Snake-like Robot Based on Spatial Linkage Mechanism |
| |
| ZHAO Tie-shi,LIN Yong-guang,MIAO Lei,WANG Chun-yu.A Snake-like Robot Based on Spatial Linkage Mechanism[J].Robot,2006,28(6):629-635. |
| |
| Authors: | ZHAO Tie-shi LIN Yong-guang MIAO Lei WANG Chun-yu |
| |
| Affiliation: | College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China |
| |
| Abstract: | A novel model of snake-like robot based on a spatial linkage mechanism is presented.Each module of this model has two micro servo motors which are linked by universal joints.The two motors drive two cranks,and the two cranks drive another module by two links with two spherical joints.Many motion modes including wriggling in sine wave,swerving left,swerving right and uplifting head are available by coupled actuation of the two motors on each module.The kinematics of the spatial linkage mechanism is presented.Joint's angles and pulses can be calculated based on Serpenoid curves,and then three basic motion modes are realized by programming. |
| |
| Keywords: | snake-like robot spatial mechanism motion mode |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《机器人》浏览原始摘要信息 |
|
点击此处可从《机器人》下载全文 |
|
