机械与电子2017，Vol.35Issue(12)：68-71,4.
蛇形蠕动机器人行波运动和动力学研究
Study on Snake-like Inchworm Robot's Locomotion and Dynamics
孟令森 1吴胜 1王永娟 1范丽萍2
作者信息
- 1. 南京理工大学机械工程学院,江苏南京210094
- 2. 江苏省海门中等专业学校信息系,江苏海门226100
- 折叠
摘要
Abstract
A snake-like robot with series-connected linkage structure was designed in this study based on the biological mechanism of snake body bone,the joints of which was biaxial gear playing a revolving role.Based on the inchworm gait model of Supernoid curve,simulations were carried out by MATLAB to analyze the influences of key parameters and discretization on the snakelike curves.Besides,the traveling-wave motion of the snake-like robot was dynamically simulated by Adams to analyze the friction force and the joint torque between the ground and the specific joint of the robot when the traveling wave was forward.关键词
蛇形机器人/Serpenoid曲线/结构设计/动力学仿真Key words
snake-like robot/serpenoid curve/structure design/dynamics simulation分类
信息技术与安全科学引用本文复制引用
孟令森,吴胜,王永娟,范丽萍..蛇形蠕动机器人行波运动和动力学研究[J].机械与电子,2017,35(12):68-71,4.
