作　　者： ; ; ; ;

机构地区： 中国科学院沈阳自动化研究所机器人学国家重点实验室

出　　处： 《机械工程学报》 2009年第5期128-133,共6页

摘　　要： 蛇形机器人具有比传统移动机器人更强的运动能力,为实现机器人的三维运动而开发的蛇形机器人巡视者II是一个具有强驱动力和高机动性的三维蛇形机器人。它由具有3自由度的模块化单元组成,该单元具有俯仰、偏航和回转3自由度,单元的俯仰和偏航运动是通过由3个伞齿轮组成的差速机构耦合驱动。该单元的圆柱形外壳周围安装有一系列的被动轮来增加机器人运动灵活性。对蛇形机器人模块单元的自由度作了详细分析,并基于机器人的运动机动性设计三维蛇形机器人的单元结构。给出蛇形机器人的控制系统结构,并对耦合变量进行解耦。将蛇形机器人的蜿蜒运动和扭转运动两种基本步伐应用到巡视者II上,试验结果证明了该三维蛇形机器人具有很强的机动性和运动能力。 Snake-like robots show higher capability of movement than conventional mobile robots. In order to achieve three-dimensional locomotion of snake-like robots, a 3D snake-like robot called Perambulator-II is developed with the acquirement of powerful propulsion and high mobility. Perambulator-II robot is composed of 3-DOF module, which implements pitching, yawing and rolling motion. The coupling drive is achieved through the differential mechanism composed of three bevels. A series of passive rollers are fixed on the unit cylinder body to add agility to the robot. The degrees of freedom of module are analyzed in detailing and the structure is designed on the basis of the mobility of robots. The control architecture of snake-like robot is presented. The decoupling of variables is completed. Serpentine and twist locomotion are applied on Perambulator-II to test its performance. The experimental results show that Perambulator-II has powerful mobility and agility.

关 键 词： 蛇形机器人 机构设计 蜿蜒运动 外壳形状

领　　域： [自动化与计算机技术] [自动化与计算机技术]