摘要
根据自然界蛇的体骨结构,建立了一种串联连杆结构的蛇形机器人,连接处选用双轴舵机,起到旋转副的作用。在Serpenoid曲线的蠕动步态模型基础上,利用MATLAB对进行仿真,分析了关键参数对蛇形曲线的影响,分析了曲线离散化对蛇形曲线的影响,通过Adams对蛇形机器人的行波运动进行了动力学仿真,分析了蛇形机器人在行波向前时特定关节与地面的作用力和关节扭矩情况。
A snake-like robot with series-connected linkage structure was designed in this study based on the biological mechanism of snake body bone,the joints of which was biaxial gear playing a revolving role.Based on the inchworm gait model of Supernoid curve,simulations were carried out by MATLAB to analyze the influences of key parameters and discretization on the snakelike curves.Besides,the travelingwave motion of the snake-like robot was dynamically simulated by Adams to analyze the friction force and the joint torque between the ground and the specific joint of the robot when the traveling wave was forward.
出处
《机械与电子》
2017年第12期68-71,共4页
Machinery & Electronics
