欠驱动蛇形机器人模块的设计研究

依据现有的欠驱动理论,结合摩擦盘运动分解合成机构,设计出一种欠驱动蛇形机器人模块,并研究其运动规律。通过分析研究表明运用这样的摩擦盘传动机构作为关节模型,可以建立起欠驱动蛇行机器人模块。由于采用了欠驱动方式使得结构紧凑,有利于降低机身的重量;使其具有更大的灵活性和适应性,对蛇形机器人走向实用具有重要的意义。

The module of underactuated snake-robot design and research

Based on existing theories of under-actuated,combined with the friction disc decomposition of synthetic sports organizations,to design a module of under-actuated snake-like robot and to study the law of its motion. Through research and analysis shows that the use of such a friction disc drive mechanism as a joint model can be set up under-actuated snake robot module. As a result of the less-driven approach allows compact and lower body weight,greater flexibility,adaptability,such institution for the snake-l...