蛇形机器人行波运动的研究

ANALYSIS OF TRAVELING WAVE LOCOMOTION OF SNAKE ROBOT

对蛇形机器人的行波运动机理进行了研究,基于Serpenoid曲线建立了蛇形机器人行波运动的形状控制模型、运动学模型、机构动力学模型及环境动力学模型,给出了求解过程。仿真结果表明:在行波运动中,各关节输入力矩大小呈周期变化,且随其与蛇体重心距离的增加而减小。蛇体中心关节的最大输入力矩为蛇形机器人所需最大输入力矩。对称关节输入力矩幅值变化规律相同,但相差不同;运动初始弯角保持不变,关节输入力矩随着环境摩擦因数的增加而增加。环境摩擦因数保持不变,关节输入力矩随着初始弯角的增加而减小。

The mechanism of traveling locomotion of snake robot is studied. A modeling approach of body shape control, kinematics and dynamics of snake robot in traveling wave locomotion is established based on Serpenoid curve. Computer simulation results show that: the required joint torques in traveling wave locomotion is periodic. Input torque of the joint is diminished with the increasing of the distance between the joint and the center of gravity of the body. Symmetry joints with the same distance from the gravity center have the same amplitude of input torques with a phase difference. The torque of central joint is the biggest input torque of the snake robot. If keeping the initial angle the same, the joint input torque is increased with the increasing of friction coefficient of the environment. And if keeping the friction coefficient of the environment the same, the joint input torque is increased with the increasing of initial angle.