水下蛇形机器人关节旋转机构建模与运动分析

Modeling and kinematic analysis of joint rotating mechanism for underwater snake-like robots

为满足水下蛇形机器人在管道检测、资源勘测的运动灵活性的需求,研发出一种两自由度关节旋转机构。介绍水下蛇形机器人整体设计和两自由度关节旋转机构结构。对关节旋转机构进行简化,建立齿轮传动系统数学模型,分析关节旋转机构的运动表现。建立关节旋转机构三维结构模型,并将简化三维模型导入Adams仿真软件,进行运动仿真,验证在不同角速度下关节旋转机构的运动情况。进行关节旋转机构实物实验,验证其运动实际可行性。实验结果对实现蛇形机器人水下蜿蜒运动具有重要指导意义。

To meet the needs of flexibility of movement in pipeline inspection and resource surveying of underwater snake-like robots,a two-degree-of-freedom joint rotation mechanism is developed.The overall design of the underwater snake-like robots and the structure of the joint rotation mechanism with two-degree-of-freedom are introduced.The joint rotation mechanism is simplified to establish a mathematical model for gear transmission system,and the motion performance of joint rotating mechanism is analyzed.Moreover,a three-dimensional structure model for the joint rotation mechanism is established,and the simplified model is simulated in Adams environment to verify the motion of the joint rotation mechanism under different motion angular velocities.Furthermore,physical test of the joint rotation mechanism is carried out to verify the practical feasibility of its movement.The test results has important guiding significance for the realization of the serpemtine locomotion of the underwater snake-like robots.