蛇形机器人伸缩运动仿生研究

BIONIC RESEARCH ON CONCERTINA MOTION OF A SNAKE-LIKE ROBOT

对生物蛇在不同环境中的运动步态进行了观察与试验,试验发现蛇具备垂直平面内的伸缩运动功能。详尽分析了水平面内和垂直面内伸缩运动的运动机理、运动特点和它们所能适应的特殊环境。分别建立了两种伸缩运动的数学模型,并对数学模型进行了运动学分析。根据蛇的伸缩运动机理,设计了蛇形机器人的仿生机械结构。最后根据数学模型,对蛇形机器人进行了伸缩运动试验,验证了这两种运动步态的可实现性。

After observation and experiment on nature snakes' movement, snake's ability of concertina motion in vertical plane is discovered. Concertina motion of snake is widely adopted, especially in utmost hazardous environment. The principle, characteristics and the unique environments of both horizontal concertina motion and vertical concertina motion had been discussed in detail subsequently. Kinematics mathematic models of these concertina motions are proposed and analyzed. The homologous bionic physical structure is designed in accordance with snakes' concertina motion principle. Finally, according to mathematical models, experiment on the snake-like robot verified the validity of these two gaits.