曲线轮廓机器人及其结构设计

THEORY AND MACHINERY ON CURVED ROBOT

曲线轮廓三杆机器人是一种形状独特、概念新颖的仿生机器人 .利用激振及杆与杆、杆与地面之间的作用力 ,它将常规机器人机构视为阻力的重力转化为驱动力 ,并可模仿动物进行不受冲击的转倒、起立以及蠕动、爬台阶等多项运动 ,具有积极的意义 .本文对它的结构。

As a type of bionic robot with distinct construct and inventive concep t, it can transfer gravity, which is usually an obstacle in other mechanics, to be a propelling force by taking advantage of dynamic interference force and such forces as those between linkage and ground surface. Moreover, the robot can imi tate animals to fall down, stand up without shock, move peristaltically and asce nd a step. These functions have important sense. The paper discusses its moving theory and mechanics.