基于3-RSR并联机构的蛇形机器人本体构型设计与运动性能研究

蛇形机器人作为仿生机器人的重要分支，身形柔软轻小，运动灵活多变，具备很强的环境适应能力，在军事侦察、地质勘探、灾难救援等领域拥有非常广阔的发展前景。创新性地将并联机构、折纸机构和柔性铰链相结合，设计出一种灵活度高、结构紧凑的模块化蛇形机器人单元，并从数学模型、旋量分析等角度进行合理论证。自主完成硬件电路搭建、控制算法编写，设计蛇形机器人控制系统实现多路直流减速电机协同，并进行仿蛇运动的步态规划。加工制作蛇形机器人样机并完成了特定环境下机器人性能测试。

Body Configuration Design and Kinematic Performance Research of Snake-like Robot Based on 3-RSR Parallel Mechanism

As an important branch of bionic robot, snake-like robot has a soft and light body, flexible movement and strong environmental adaptability. It has a very broad development prospect in military reconnaissance, geological exploration, disaster rescue and other fields. A modular snake-like robot unit with high flexibility and compact structure is designed by innovatively combining parallel mechanism, origami mechanism and flexure hinge. The hardware circuit construction and control algorithm writing are completed independently. The control system of snake-like robot is designed to realize the cooperation of multiple DC deceleration motors, and the gait planning of snake-like motion is carried out. The prototype of snake-like robot is manufactured and the robot performance test in specific environment is completed.