摘要
针对复杂、人力所不能及的作业环境,介绍了一种多冗余度的蛇型机器人用于工业、航空等复杂装置的内部检测。这种机器人模仿了生物蛇的形体及运动特点,能协调各关节一起运动,从而完成规定的任务。本文对该机器人进行了运动学分析,提出了运动策略。实验结果证明这种运动策略是可行的。
A kind of multi-redundant snake-robot is put forward for the inspection inside the complex of industry and aviation etc., where human can't reach or work. Imitating the kinematics and characteristics of the snake, a prototype of the snake-robot is made. The snake-robot completes a task by controlling robotic joints in perfect harmony. The experiment results prove to be feasible according to a motion planning being proposed based on a careful kinetics analysis of the robot.
出处
《电机与控制学报》
EI
CSCD
北大核心
2002年第3期249-251,共3页
Electric Machines and Control
