仿生蠕动型机器人动力学分析与仿真

为提高蠕动型机器人的适应性和行走效率,根据腹足动物蠕动原理,设计了一种可应用于人体大动脉血管介入诊疗的新型蠕动式机器人,该机器人的摩擦力控制模块使固定相与移动相的体节单元与管壁之间具有不同的摩擦系数,从而提高了蠕动效率,使机器人运动更平稳,承载能力更强。描述了机器人的结构与行走原理,分析了机器人在大动脉流场环境中的受力,利用空间算子代数方法,建立了机器人动力学模型,通过试验验证了机器人行走原理,在此基础上进一步进行了任务仿真,测试了机器人在不同环境中的动力学性能。样机试验和仿真的结果表明这种仿腹足动物蠕动式机器人达到了预期目的,而建模和仿真的方法对于其他类型蠕动式机器人也具有借鉴意义。

Dynamic Analysis and Simulation of Bionic Creeping Robot

In order to improve adaptability and walking efficiency of micro-robot,a novel bionic micro-robot based on the gastropod＇s locomotion principle was developed,which can intervene in human artery blood vessel.The friction control module of the robot makes different friction coefficients between the body and the pipe wall.Therefore,the robot can move more smoothly.In the paper,the structure and locomotion principle of the micro-robot has been illustrated and also the mechanical model was established by using space operator algebra（SOA） method.The locomotion principle was verified by experiments.On this basis,dynamic performances of the robot were tested in different environments by mission simulation.Tests and simulations showed that the prototype achieved desired purpose.The modeling and simulation methods have reference value to other types of creeping robots.