| 蛇形机器人直线运动的研究 |
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| 引用本文： | 薛瑞彬,苏中,张夏丽,万承军.蛇形机器人直线运动的研究[J].北京机械工业学院学报,2011(5):65-69. |
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| 作者姓名： | 薛瑞彬 苏中 张夏丽 万承军 |
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| 作者单位： | [1]北京信息科技大学智能控制研究所,北京100192 [2]北京航天长征飞行器研究所,北京100076 |
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| 基金项目： | 北京市学术创新人才计划项目（PHR200906131,PHR201006115）; 现代测控技术教育部重点实验室资助项目 |
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| 摘 要： | 提出一种由6个关节组成的蛇形机器人,研究了蛇形机器人的直线运动机理,在机械系统动态仿真软件ADAMS中建立蛇形机器人的运动模型,设置直线运动的关节角度时间函数。通过在ADAMS中添加各种驱动,设定运动函数,分析了地面摩擦跟蛇体的运动关系,并进行了仿真验证。结果表明,所提出的蛇形机器人能够完成设定的直线运动。
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| 关 键 词： | 蛇形机器人 ADAMS仿真 约束 直线运动 |
Study on linear motion of snake-like robot |
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| XUE Rui-bin,SU Zhong,ZHANG Xia-li,WAN Cheng-jun.Study on linear motion of snake-like robot[J].Journal of Beijing Institute of Machinery,2011(5):65-69. |
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| Authors: | XUE Rui-bin SU Zhong ZHANG Xia-li WAN Cheng-jun |
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| Affiliation: | 1.Institute of Intelligence Control,Beijing Information Science and Technology University,Beijing 100192,China; 2.Beijing Institute of Space Long March Vehicle,Beijing 100076,China) |
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| Abstract: | The snake-like robot composed of 6 joints is proposed in this paper.The linear motion mechanism of snake-like robot is studied,and its moving model is established in the mechanical system dynamics simulation software ADAMS.The joint angle time functions of linear motion are set up.By adding some restrictions for model in ADAMS and setting moving functions,the relationship between the ground and the snake body is analyzed.The simulation results show that the snake-like robot can complete the linear movement set before. |
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| Keywords: | snake-like robot ADAMS simulation constraints linear motion |
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