摘要
根据仿生蛇多冗余、多自由度的特点,提出了PR结构蛇形机器人机械机构。该机构的主要特点是关节机构的模块化,每个关节具有3个自由度,关节结构中采用了弹簧零件,每个关节有2个电机。在电机没有力作用的情况下,弹簧通过预紧力恢复至初始位置,不需要电气和程序控制,大大简化了操作流程。蛇体运行更加贴合外环境表面,增加了其执行任务过程中的稳定性。突破性实现了轴向伸缩、背部腹部弯曲等功能体态。
Based on the characteristics of redundant and multi-degree of freedom of bionic snake,the mechanical mechanism of PR structure snake-like robot is proposed. The main feature of this mechanism is its modular joint. Each joint has three degrees of freedom,spring parts are used in joint structure,and each joint has two motors. When the motor has no force,the spring returns to the initial position through the pre-tightening force.No electric and program control are needed,the operation process is greatly simplified. The movement of the robot is more fitting to the surface of external environment,increasing its stability during task execution.Breakthrough functional postures such as axial expansion,back and abdomen bending are achieved.
出处
《电子机械工程》
2015年第1期61-64,共4页
Electro-Mechanical Engineering
关键词
PR结构
蛇形机器人
关节结构
轴向伸缩
PR structure
snake-like robot
joint structure
axial expansion
作者简介
李永梅（1979-），讲师，主要研究方向为微机测控。
