蛇形机器人的机构设计及运动分析

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蛇形机器人以其独特的身体结构和运动形式能够适应各种复杂环境。为了验证蛇形机器人的运动能力,设计了一种前进中可做周期性运动的蛇形机器人,重点讨论了其关节机构的设计和运动原理;通过建立蛇形机器人运动的数学模型,并结合其运动的周期性,详细分析了三连杆模型的运动步态特性。研究结果表明,三连杆运动步态提高了蛇形机器人的运动能力。 Snake-like robot can adapt all sorts of complex circumstances with its unique body structure and movement forms.In order to verify the ability of motion for snake-like robot,a snake-like robot was designed,which was able to execute cycle locomotion.The design of the robot＇s arthrosis mechanism and the movement principle were discussed.The motion tread feature of three-reciprocating rod model was analyzed by establishing mathematic model of robot motion in detail,combined with the motion periodicity of snake-like robot.The results indicate that three-reciprocating rod motion tread improves the ability of motion for snake-like robot.