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| 蛇形机器人的翻滚运动及其越障研究 | |
| 引用本文： | 陈丽,王越超,李斌,马书根,罗继曼. 蛇形机器人的翻滚运动及其越障研究[J]. 高技术通讯, 2003, 13(7): 54-57 |
| 作者姓名： | 陈丽 王越超 李斌 马书根 罗继曼 |
| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人重点实验室,沈阳,110016;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机器人重点实验室,沈阳,110016 3. 中国科学院沈阳自动化研究所机器人重点实验室,沈阳,110016;日本国立茨城大学工学部系统工程系,日立,316-8511 4. 沈阳建筑工程学院,沈阳,110015 |
| 基金项目： | 863计划 ( 2 0 0 1AA42 2 3 60 )资助项目 |
| 摘 要： | 提出了一种新型蛇形机器人机构。该机构既可以实现平面运动又可以实现空间运动。建立了其空间运动学模型并实现了空间翻滚运动。实验结果表明：翻滚运动不需依靠模块与地面之间动摩擦力方向差来实现驱动，而是通过模块与地面之间静摩擦力和互相垂直的两个运动平面内异相波的相互作用产生驱动力。翻滚的方向和姿态由两个波形曲线的相差和传播方向决定。利用翻滚运动．实现了少模块数蛇形机器人的越障运动． |
| 关 键 词： | 蛇形机器人 翻滚运动 机构设计 模块可重构 模型 异相波 静摩擦力 越障运动 |
Studies on Rolling Locomotion and Crossing over Obstacles of a Snake-robot |
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| Chen Li ,Wang Yuechao ,Li Bin ,Ma Shugen ,Luo Jiman. Studies on Rolling Locomotion and Crossing over Obstacles of a Snake-robot[J]. High Technology Letters, 2003, 13(7): 54-57 | |
| Authors: | Chen Li Wang Yuechao Li Bin Ma Shugen Luo Jiman |
| Affiliation: | Chen Li * **,Wang Yuechao *,Li Bin *,Ma Shugen * ***,Luo Jiman **** |
| Abstract: | A new reconfigurable modular of snake robot was presented. The snake robot can not only move in a plane but also move spatially. The three dimensional kinematic model was also developed and the rolling locomotion was achieved. The results show that the rolling locomotion obtains its driving force through the interaction of two waves with phase difference from two different planes, but not from the difference of friction in normal and tangential direction. The rolling shape and direction depend on both phase difference and transferring direction of the two waves. Finally, it is turned into reality that a snake robot with a few modelers can cross obstacles through rolling locomotion. |
| Keywords: | Snake robot Modular reconfigurable Rolling locomotion Crossing over obstacles |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |