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一种可重构蛇形机器人的研究
Alternative TitleMechanical Design of a Reconfigurable Snake Robot
陈丽; 王越超; 马书根; 李斌
Department机器人学研究室
Source Publication中国机械工程
ISSN1004-132X
2003
Volume14Issue:16Pages:1351-1353
Indexed ByEI ; CSCD
EI Accession number2003437696937
CSCD IDCSCD:1240220
Contribution Rank1
Funding Organization国家 8 63高技术研究发展计划资助项目( 2 0 0 1AA42 2 3 60 )
Keyword可重构 蛇形机器人 平面运动 空间运动
Abstract提出了一种新型的可重构蛇形机器人机构。该机构主要特点是单关节结构模块化 ,具有可适应地面形状变化的柔性连接环节和类似于蛇腹鳞摩擦特性的机构底部 ,手动可重构 ,当单自由度关节轴线互相平行连接时 ,该机构可实现多种平面运动形式 ,当单自由度关节轴线垂直依次连接时 ,形成的蛇形机器人具有两自由度的关节 ,可进行多种空间运动。试验结果证实 ,该蛇形机构重量轻、控制简单、运动灵活 ,能够很好地仿生蛇的多种运动形式
Other AbstractThis paper presents a new kind of reconfigurable snake-robot. The machine can adapt the shape of the ground, and has the same friction characteristics as the ventral flake of a snake because of a new apparatus. It is manually reconfigurable: every two one-DOF modules are connected in parallel to achieve the planar locomotion of a snake, connected perpendicularly to achieve the spatial locomotion because they can form a joint of two-DOF. The results show it can achieve several types of planar and spatial locomotion like a natural snake because of its handiness, convenieuce and flexibleness.
Language中文
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3194
Collection机器人学研究室
Corresponding Author陈丽
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
陈丽,王越超,马书根,等. 一种可重构蛇形机器人的研究[J]. 中国机械工程,2003,14(16):1351-1353.
APA 陈丽,王越超,马书根,&李斌.(2003).一种可重构蛇形机器人的研究.中国机械工程,14(16),1351-1353.
MLA 陈丽,et al."一种可重构蛇形机器人的研究".中国机械工程 14.16(2003):1351-1353.
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