[1]姜祖辉,冯宝林,赵世标,等.仿金花蛇躯体形变机构系统设计[J].机械与电子,2015,(09):76-80.
　JIANG Zuhui,FENG Baolin,ZHAO Shibiao,et al.System Design of Mechanism Based on Characteristics of Chrysopelea ornata Spine[J].Machinery & Electronics,2015,(09):76-80.
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仿金花蛇躯体形变机构系统设计
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年09期
页码:
76-80
栏目:
智能工程
出版日期:
2015-09-25

文章信息/Info

Title:
System Design of Mechanism Based on Characteristics of Chrysopelea ornata Spine
文章编号:
1001-2257(2015)09-0076-05
作者:
姜祖辉1; 冯宝林2; 赵世标1; 郑中山1
(1.中国科学技术大学工程科学学院,安徽 合肥 230026; 2.中国科学院合肥物质科学研究院,安徽 合肥 230031)
Author(s):
JIANG Zuhui1; FENG Baolin2; ZHAO Shibiao1; ZHENG Zhongshan1
(1.Institute of Engineering Sciences,University of Science and Technology of China,Hefei 230026,China; 2.Hefei Institutes of Physical Science,Chinese Academy of Sciences,Hefei 230031,China)
关键词:
仿金花蛇躯体形变;  机构设计;  动力学;  控制系统设计
Keywords:
mechanism based on characteristics of flying snake spine;  mechanism design;  dynamic analysis;  control system design
分类号:
TP242
文献标志码:
A
摘要:
提出了一种全新的基于金花蛇脊椎特性的形变机构,它可以实现扭转和弯曲等多种动作。受金花蛇脊椎空间变形特性的启发,分析金花蛇脊柱骨解剖学特征和肌肉分布特征,设计仿生机械机构。相对于传统的类似机构,本机器人采用线驱动,结构更加简单,拥有更多自由度且可以适应多种工作环境。并对此机构进行动力学建模和控制系统设计。
Abstract:
This paper proposes a new design of mechanism based on the spine structure of the Golden Tree Snake(Chrysopelea ornata), which is capable of performing a wide range of motions, such as torsion and bending. Inspired by the Golden Tree Snake's vertebrae spatial deformation characteristics and the anatomy of the snake's spine and muscle distribution characteristics, this robot is cable-driven, and thus has more simple structure, more freedom and can be adapted to various working environment. In this paper, the mechanism design, dynamic analysis, control platform design and experiment are also presented.

参考文献/References:

[1] Miklasz K,Labarbera M,Chen X,et al. Effects of body cross-sectional shape on flying snake aerodynamics[J]. Experimental Mechanics,2010,50(9):1335-1348.
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[10] Xu K,Goldman R E,Ding J,et al.System design of an insertable robotic effector platform for single port access(SPA)surgery[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,2009:5546-5552.
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备注/Memo

备注/Memo:
收稿日期:2015-04-13
基金项目:国家自然科学基金资助项目(51275505)
作者简介:姜祖辉(1987-),男,河北沧州人,硕士,研究方向为机器人、机械设计; 冯宝林(1972-),男,安徽合肥人,博士,副研究员,研究方向为仿生设计、机械设计,通信作者。
更新日期/Last Update: 2015-09-25