| 形状记忆合金驱动的蛇形机器人建模方法研究 |
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| 引用本文： | 赵丽娟,姜天阳.形状记忆合金驱动的蛇形机器人建模方法研究[J].机械传动,2008,32(6). |
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| 作者姓名： | 赵丽娟 姜天阳 |
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| 作者单位： | 1. 辽宁工程技术大学机械工程学院,辽宁,阜新,123000
2. 辽宁工程技术大学研究生学院,辽宁,阜新,123000 |
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| 基金项目： | 辽宁工程技术大学博七基金项目;"一种蛇形机器人"已获国家发明专利;专利号:ZL 02 1 09369.5 |
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| 摘 要： | 针对仿蛇形机器人关节多、模型复杂等特点,采用CATIA和MSC.ADAMS软件对蛇形机器人进行了从样机模型建立到运动学仿真与分析等一系列研究;并根据STEP5函数具有一阶与二阶导数连续、较高的逼近程度等特性验证了蛇形机器人前后移动和左右转弯步态可行性;找到了一种在ADAMS环境下求解机器人运动的方法,简化了理论计算,提高了设计效率。
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| 关 键 词： | 形状记忆合金 蛇形机器人 运动学仿真 虚拟样机 |
The Dynamics Simulation of Snake-like Robot with SMA Motion |
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| Zhao Lijuan,Jiang Tianyang.The Dynamics Simulation of Snake-like Robot with SMA Motion[J].Journal of Mechanical Transmission,2008,32(6). |
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| Authors: | Zhao Lijuan Jiang Tianyang |
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| Abstract: | Aiming at the characteristics of numerous joints and model complicacy the snake-like robot possesses,a series of studies have been done from prototype model building to simulation and kinematics analysis by using CATIA and MSC.ADAMS. According to a function with STEP5 has features of continuous first and second derivative,the higher degree of approximation,etc.,we test and verify feasibility of fore-and-aft movement and turning gait of the robot. Thus a solution of the Snake-like robot motion under the ADAMS is found,the theoretical calculation is simplified,and the design efficiency is improved. |
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| Keywords: | Shape of memory alloy The SMA motion of snake-like robot Dynamics simulation Virtual prototype |
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