机械科学与技术2025，Vol.44Issue(9)：1557-1567,11.DOI:10.13433/j.cnki.1003-8728.20230299
蛇形机器人多步态动力学建模与分析
Modeling and Analysis on Multi-gait Dynamics of Snake-like Robot
摘要
Abstract
Aiming at the multi-gait dynamic analysis of snake-like robot,a dynamic simulation model for the two-dimensional and three-dimensional motion was established.Using the developed snake-like robot with 11 two-degree-of-freedom orthogonal joints,the dynamic theoretical model of its serpentine locomotion was established,and the dynamic simulation model of its serpentine,rolling and inchworm locomotion was established with the help of SolidWorks and Adams.In particular,considering the joint movement interference problem that may occur in rolling motion,the step function is used to realize the input of rolling joint angle.The dynamic analysis results show that among the three gaits,the joint torque amplitude under the rolling locomotion is largest,the inchworm locomotion is the second,and the serpentine locomotion is the smallest,and the robot posture should be adjusted in time to avoid joint movement interference during the rolling movement.The multi-gait dynamics study of snake-like robots can provide reference and guidance for their gait planning,joint motor selection and motion control.关键词
蛇形机器人/动力学分析/蜿蜒步态/蠕动步态/翻滚步态/运动干涉Key words
snake-like robot/dynamic analysis/serpentine locomotion/inchworm locomotion/the rolling locomotion/motion interference分类
信息技术与安全科学引用本文复制引用
杜雪林,周灿,刘颖,易文慧,邹家华..蛇形机器人多步态动力学建模与分析[J].机械科学与技术,2025,44(9):1557-1567,11.基金项目
湖南省自然科学基金项目(2023JJ50099,2023JJ30208)与湖南省大学生创新训练项目(S202311528153,S202511528251X) （2023JJ50099,2023JJ30208）
