摘要
提出一种基于新型渐开线球形齿轮的蛇形机器人模型。首先介绍了蛇形机器人的结构和工作原理,分析了3D打印渐开线球形齿轮的啮合特点,对由偏摆单元以及驱动单元组成的偏摆角度及位置实时可控的单骨节进行设计分析,再对5骨节的蛇形机器人位置坐标进行分析,最后对单骨节和蛇形机器人的运动进行仿真以及单骨节实物的运动模拟和实验,结果表明设计可行有效。
A snake like robot model based on new involute spherical gear is proposed.Firstly,the structure and working principle of snake like robot are introduced,the structural characteristics of 3D printing involute spherical meshing gears are analyzed.The design and analysis of a single bone joint with real time controllable yaw angle and position composed of yaw unit and driving unit are carried out.Then,the position coordinates of snake like robot with 5 bone nodes are analyzed.Finally,the movement of single bone and snake like robot is simulated and the motion simulation and experiment of single bone joint real object are carried out.The results show that the design is feasible and effective.
作者
王树凤
崔国臣
张玉峰
王万振
Wang Shufeng;Cui Guochen;Zhang Yufeng;Wang Wanzhen(College of Transportation,Shandong University of Science and Technology,Qingdao 266590,China;College of Mechanical Engineering,Beihua University,Jilin 132021,China;College of Mechanical Engineering,Qilu Institute of Technology,Ji′nan 250200,China)
出处
《机械传动》
北大核心
2019年第1期69-74,共6页
Journal of Mechanical Transmission
基金
吉林省教育厅"十三五"科学技术项目(JJKH20170028KJ)
山东科技大学研究生教育创新计划项目(KDYC16026)
关键词
蛇形机器人
渐开线球形齿轮
3D打印
骨节运动
Snake-like Robot
Involute spherical gear
3D printing
Bone joint movement
