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| 具有万向机构的蛇形机器人运动控制 | |
| 引用本文： | 叶长龙,马书根,李斌,王越超.具有万向机构的蛇形机器人运动控制[J].中国机械工程,2004,15(24):2235-2240. |
| 作者姓名： | 叶长龙 马书根 李斌 王越超 |
| 作者单位： | 1. 中国科学院沈阳自动化研究所,沈阳,110016;沈阳工业大学机械工程学院,沈阳,110023;中国科学院研究生院,北京,100039 2. 中国科学院沈阳自动化研究所,沈阳,110016;日本国立茨城大学工学部,茨城县,日本 3. 中国科学院沈阳自动化研究所,沈阳,110016 |
| 基金项目： | 国家 8 63高技术研究发展计划资助项目(42 0 0 1AA42 2 3 60 ) |
| 摘 要： | 设计了一种能够使蛇形机器人运动更灵巧、奇异点更少和运动能力更强的机构．对具有三个自由度的新型蛇形机器人单元进行了改进，在单元上增加被动轮机构，使其具有万向机构的特点。该单元不仅能够用被动轮驱动机器人运动．而且增加了类似于主动轮的驱动机构．克服了被动轮驱动能力弱的缺点，增强了机器人的运动能力。在分析非完整约束的基础上，对蛇形机器人的运动学和冗余度进行分析，提出了控制该类蛇形机器人运动的分解矩阵方法和分组交替运动法。 |
| 关 键 词： | 蛇形机器人 万向机构 非完整约束 运动学控制 |
| 文章编号： | 1004-132X(2004)24-2235-06 |
Locomotion Control of a Snake-like Robot with Omnidirectional Mechanisms |
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| Ye Changlong , Ma Shugen , Li Bin Wang Yuechao . Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang, . Shenyang University of Technology,Shenyang, . Ibaraki University,Ibaraki,Japan . Graduate School of the Chinese Academy of Sciences,Beijing.Locomotion Control of a Snake-like Robot with Omnidirectional Mechanisms[J].China Mechanical Engineering,2004,15(24):2235-2240. | |
| Authors: | Ye Changlong Ma Shugen Li Bin Wang Yuechao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Shenyang University of Technology Shenyang Ibaraki University Ibaraki Japan Graduate School of the Chinese Academy of Sciences Beijing |
| Affiliation: | Ye Changlong 1,2,4 Ma Shugen 1,3 Li Bin1 Wang Yuechao1 1. Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016 2. Shenyang University of Technology,Shenyang,110023 3. Ibaraki University,Ibaraki,Japan 4. Graduate School of the Chinese Academy of Sciences,Beijing,100039 |
| Abstract: | By adding a serial of passive wheels to the perimeter of the newly designed joint mechanism with 3 DOFs, a snake-like robot provided with the characteristics of omnidirectional mechanism can traverse rough terrain and compensate the lack of actuation due to passive wheels. The nonholonomic constraints and robot kinematics were analyzed as well as the redundancy. The composite motion method and grouping alternation motion control method were thus proposed for the locomotion of robot and the avoidance of singularity. Also, the grouping alternation motion adds a new explanation to the sinus lifting locomotion of natural snake. |
| Keywords: | snake-like robot omnidirectional mechanism nonholonomic constraint locomotion control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |