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基于Canfield型关节的蛇形机器人运动仿真研究
Alternative TitleSimulation study on the motion of a Canfield joint type-based snake-like robot
卢振利; 谢亚飞; 波罗瓦茨·布朗尼斯拉夫; 李斌
Department机器人学研究室
Source Publication高技术通讯
ISSN1002-0470
2017
Volume27Issue:7Pages:638-645
Contribution Rank1
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)资助项目
KeywordV-rep仿真 Canfield机构 蛇形机器人 蜿蜒运动 转弯运动
Abstract应用虚拟机器人实验平台(V-REP)构建了一种基于Canfield关节型的运动机构,通过动力学仿真添加关节角度约束对其运动空间轨迹进行了观察与分析。利用该Canfield型机构作为关节模块组建成了蛇形机器人,并对该类蛇形机器人关节运动生成的蜿蜒、转弯和伸缩步态进行了实验研究和分析,为该类蛇形机器人设计提供了可行性。
Other AbstractA motion mechanism model based on Canfied joints was established by using the dynamic simulation software of the virtual robot experimentation platform ( V-REP) ,and the trajectory in its motion space was observed and analyzed by adding joint degree constraints. The Canfield mechanism model was taken as a joint module to establish a snake-like robot model. The gaits of serpentine,turning and concertina gaits created by controlling the joint motion of the snak-like robot,were studied and analyzed through gaits experiments,with the aim of providing the feasibility of designing this type of snake-like robots.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21372
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.中国科学院沈阳自动化研究所机器人学国家重点实验室
3.中国矿业大学信息与电气工程学院
4.诺维萨德大学技术科学学院
Recommended Citation
GB/T 7714
卢振利,谢亚飞,波罗瓦茨·布朗尼斯拉夫,等. 基于Canfield型关节的蛇形机器人运动仿真研究[J]. 高技术通讯,2017,27(7):638-645.
APA 卢振利,谢亚飞,波罗瓦茨·布朗尼斯拉夫,&李斌.(2017).基于Canfield型关节的蛇形机器人运动仿真研究.高技术通讯,27(7),638-645.
MLA 卢振利,et al."基于Canfield型关节的蛇形机器人运动仿真研究".高技术通讯 27.7(2017):638-645.
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