多关节蛇形机器人的结构设计和运动实现

Structure design and motion realization of multi-joint snakelike robot

针对蛇形机器人整体研制的关键问题,包括材料选取、结构设计和运动实现等,研制了一种新型的多关节蛇形机器人。该蛇形机器人由11个二自由度正交关节构成,可在保证灵活性的同时实现三维高仿生运动。采用蛇形曲线设计了蛇形机器人的蜿蜒、蠕动和翻滚等基本步态,并进一步提出了改进的越障步态。同时,在V-REP软件中对蛇形机器人的步态进行运动仿真,比较了不同步态的运动轨迹和运动效率。最后,通过蛇形机器人样机步态实验,对步态模型中各个控制参数对蛇形机器人运动波形和运动速度的影响进行了分析,验证了蛇形机器人本体结构与控制系统的可靠性。研究结果对实现蛇形机器人的步态规划与运动控制具有重要的理论意义与实际指导价值。

Aiming at the key issues in the overall development of snakelike robots,including material selection,structure design and motion realization,a new multi-joint snakelike robot was developed.This snakelike robot was composed of 11 two-degree-of-freedom orthogonal joints,which could achieve three-dimensional high biomimetic motion while ensuring flexibility.The basic gaits of snakelike robot such as meandering,wriggling and tumbling were designed by using the serpentine curve,and an improved obstacle surmounting gait was further proposed.At the same time,the gaits of the snakelike robot were simulated in the V-REP software,and the motion trajectories and efficiency of different gaits were compared.Finally,through the gait experiment of the snakelike robot prototype,the influence of each control parameter in the gait model on the motion waveform and speed of the snakelike robot was analyzed,and the reliability of the body structure and control system of the snakelike robot was verified.The research results have important theoretical significance and practical guiding value for realizing the gait planning and motion control of snakelike robots.