仿蛇变体机器人运动机理研究

RESEARCH ON THE LOCOMOTION MECHANISM OF THE SNAKE-LIKE ROBOT

本文设计了一种蛇形机器人 ,分析了蛇形机器人的结构 ,详细讨论了蛇形机器人的运动机理和几何结构关系 ,并推导出蛇形机器人的控制算法和相应的控制程序 ,蛇形机器人在程序控制下能够向前、向后运动 。

This paper presents a snake like robot. The structure of the snake like robot is discussed. The locomotion mechanism and the geometry analysis of the snake like robot are analyzed carefully. The control algorithm based on the locomotion mechanism and the geometry analysis is also deduced. The snake like robot can move forward and backward controlled by the algorithm. The snake like robot can reveal the locomotion of the real snake in some degree.