高技术通讯2017，Vol.27Issue(7)：638-645,8.DOI:10.3772/j.issn.1002-0470.2017.07.008
基于Canfield型关节的蛇形机器人运动仿真研究
Simulation study on the motion of a Canfield joint type-based snake-like robot
摘要
Abstract
A motion mechanism model based on Canfied joints was established by using the dynamic simulation software of the virtual robot experimentation platform ( V-REP) , and the trajectory in its motion space was observed and an-alyzed by adding joint degree constraints.The Canfield mechanism model was taken as a joint module to establish a snake-like robot model.The gaits of serpentine, turning and concertina gaits created by controlling the joint motion of the snak-like robot, were studied and analyzed through gaits experiments, with the aim of providing the feasibili-ty of designing this type of snake-like robots.关键词
V-REP仿真/Canfield机构/蛇形机器人/蜿蜒运动/转弯运动Key words
V-REP simulation/Canfield mechanism/snake-like robot/serpentine locomotion/turning loco-motion引用本文复制引用
卢振利,谢亚飞,波罗瓦茨·布朗尼斯拉夫,李斌..基于Canfield型关节的蛇形机器人运动仿真研究[J].高技术通讯,2017,27(7):638-645,8.基金项目
国家自然科学基金(61473283)和机器人学国家重点实验室开放基金(2014-O08)资助项目. （61473283）
