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蛇形机器人水中上浮下潜运动仿真研究
Alternative TitleSimulation Study on Rising and Diving locomotion of underwater snake-like robot
谢亚飞; 卢振利; 徐惠钢; 李斌
Department机器人学研究室
Source Publication高技术通讯
ISSN1002-0470
2016
Volume26Issue:Z2Pages:876-882
Indexed ByCSCD
CSCD IDCSCD:5932002
Contribution Rank3
Funding Organization国家自然科学基金(61473283) ; 机器人学国家重点实验室开放基金(2014-O08) ; 校新引进教师科研启动项目(XZ1306)资助
Keyword蛇形机器人 虚拟机器人实验平台(V-rep) 仿真 蛇形曲线 上浮 下潜
Abstract根据水下环境特征,研究蛇形机器人在水中三维空间的运动步态。基于虚拟机器人实验平台(V-REP)动力学仿真软件搭建了具有垂直和水平关节的蛇形机器人模型,在蛇形曲线生成蜿蜒运动的基础上,采用逐节升降法实现了水中的上浮下潜运动步态。分析了蛇形机器人在水中运动过程中的位态、受力、关节力矩及运动效率的状况,为蛇形机器人水中运动的实用化提供数据参考,同时验证了逐节升降法实现蜿蜒下潜上浮的有效性。
Other AbstractThe three-dimensional gait of a snake-like robot moving in water was studied according to underwater environment characteristics. A model for underwater snake-like robots with vertical and horizontal joints was established based on the dynamic simulation software called the virtual robot experimental platform (V-REP). Based on the serpenoid curve, the model's depth in water was changed step by step to realize the rising and diving motions. The position, exerted force, joint torque and motion efficiency of snake-like robots moving in water were analyzed to provide practical referential data for practicalizing them. Besides, the effectiveness of the method for 3D space motion was verified.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20373
Collection机器人学研究室
Corresponding Author卢振利
Affiliation1.常熟理工学院电气与自动化工程学院
2.中国矿业大学信息与电气工程学院
3.中国科学院沈阳自动化研究所机器人学国家重点实验室
Recommended Citation
GB/T 7714
谢亚飞,卢振利,徐惠钢,等. 蛇形机器人水中上浮下潜运动仿真研究[J]. 高技术通讯,2016,26(Z2):876-882.
APA 谢亚飞,卢振利,徐惠钢,&李斌.(2016).蛇形机器人水中上浮下潜运动仿真研究.高技术通讯,26(Z2),876-882.
MLA 谢亚飞,et al."蛇形机器人水中上浮下潜运动仿真研究".高技术通讯 26.Z2(2016):876-882.
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