摘要
本文主要对蛇形机器人关节结构进行模块化设计,对结构特点进行分析,给出结构参数。对蛇形机器人主要的爬坡运动进行运动分析和动作规划,并利用ADAMS软件对运动情况进行仿真,分析了爬坡运动参数和关节力矩变化情况,为蛇形机器人的运动规划提供了较为完整的技术依据。
In this paper,the modular design of the joint structure of snake-shaped robot is mainly analyzed and the structural parameters are given. The motion analysis and motion planning of the main creep movement of snake robot were carried out,and the motion condition was simulated by ADAMS software,and the variation of the parameters of the climbing motion and the joint moment was analyzed. It provides a complete technical basis for the motion planning of snake robot.
出处
《装备制造技术》
2017年第9期29-31,共3页
Equipment Manufacturing Technology
