一种可重构蛇形机器人的研究

Mechanical Design of a Reconfigurable Snake Robot

提出了一种新型的可重构蛇形机器人机构。该机构主要特点是单关节结构模块化 ,具有可适应地面形状变化的柔性连接环节和类似于蛇腹鳞摩擦特性的机构底部 ,手动可重构 ,当单自由度关节轴线互相平行连接时 ,该机构可实现多种平面运动形式 ,当单自由度关节轴线垂直依次连接时 ,形成的蛇形机器人具有两自由度的关节 ,可进行多种空间运动。试验结果证实 ,该蛇形机构重量轻、控制简单、运动灵活 。

This paper presents a new kind of reconfigurable snake-robot. The machine can adapt the shape of the ground, and has the same friction characteristics as the ventral flake of a snake because of a new apparatus. It is manually reconfigurable: every two one-DOF modules are connected in parallel to achieve the planar locomotion of a snake, connected perpendicularly to achieve the spatial locomotion because they can form a joint of two-DOF. The results show it can achieve several types of planar and spatial locomotion like a natural snake because of its handiness, convenieuce and flexibleness.