[1]孟令森,吴 胜,王永娟,等.蛇形蠕动机器人行波运动和动力学研究[J].机械与电子,2017,(12):68-71.
　MENG Lingsen,WU Sheng,WANG Yongjuan,et al.Study on Snake-like Inchworm Robot's Locomotion and Dynamics[J].Machinery & Electronics,2017,(12):68-71.
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蛇形蠕动机器人行波运动和动力学研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年12期
页码:
68-71
栏目:
智能工程
出版日期:
2017-12-15

文章信息/Info

Title:
Study on Snake-like Inchworm Robot's Locomotion and Dynamics
文章编号:
1001-2257(2017)12-0068-04
作者:
孟令森1; 吴 胜1; 王永娟1; 范丽萍2
(1.南京理工大学机械工程学院,江苏 南京 210094; 2.江苏省海门中等专业学校信息系,江苏 海门 226100)
Author(s):
MENG Lingsen1;  WU Sheng1; WANG Yongjuan1; FAN Lingping2
(1.School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China; 2.Department of Information,Haimen Secondary Specialised School, Haimen 226100,China)
关键词:
蛇形机器人;  Serpenoid曲线;  结构设计;  动力学仿真
Keywords:
snake- like robot;  serpenoid curve;  structure design;  dynamics simulation
分类号:
TP242
文献标志码:
A
摘要:
根据自然界蛇的体骨结构,建立了一种串联连杆结构的蛇形机器人,连接处选用双轴舵机,起到旋转副的作用。在Serpenoid曲线的蠕动步态模型基础上,利用MATLAB对进行仿真,分析了关键参数对蛇形曲线的影响,分析了曲线离散化对蛇形曲线的影响,通过Adams对蛇形机器人的行波运动进行了动力学仿真,分析了蛇形机器人在行波向前时特定关节与地面的作用力和关节扭矩情况。
Abstract:
A snake-like robot with series-connected linkage structure was designed in this study based on the biological mechanism of snake body bone, the joints of which was biaxial gear playing a revolving role. Based on the inchworm gait model of Supernoid curve, simulations were carried out by MATLAB to analyze the influences of key parameters and discretization on the snakelike curves. Besides, the traveling-wave motion of the snake-like robot was dynamically simulated by Adams to analyze the friction force and the joint torque between the ground and the specific joint of the robot when the traveling wave was forward.

参考文献/References:

[1] CIANCHETT M, CALISTI M, MARGHERI L, et al. Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot[J]. Bioinspiration & Biomimetics, 2015,10(3):035003.
[2] RINCON D M, SOTELO J. Ver-vite: dynamic and experimental analysis for inchworm-like biomimetic robots[J]. Robotics & Automation Magazine IEEE, 2003, 10(4):53-57.
[3] UTE J, ONO K. Fast and efficient locomotion of a snake robot based on self-excitation principle[C]// International Workshop on Advanced Motion Control. IEEE, 2002:532-539.
[4] CHI D X,YAN G Z,LIN L M.A novel miniature robotic endoscope design for intestinal inspection based on earthworm[J].Robot,2002,24(3):222-227.
[5] HIROSE S C P. Biologically inspired robots: serpentile locomotors and manipulators[M]. Oxford:Oxford University Press, 1993.

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备注/Memo

备注/Memo:
收稿日期:2017-09-20
作者简介:孟令森(1991-),男,山东德州人,硕士研究生,研究方向为小型智能机器人技术等; 吴 胜(1993-),男,湖北黄冈人,硕士研究生,研究方向为机械设计制造及其自动化,小型智能机器人技术; 王永娟(1972-),女,江苏启东人,博士,教授,研究方向为小型智能机器人技术,机械仿真技术; 范丽萍(1974—),女,江苏海门人,副教授,研究方向为计算机辅助设计网络工程等。
更新日期/Last Update: 2017-12-25