基于Canfield型关节的蛇形机器人运动仿真研究

摘要

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.%A 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 an-alyzed 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 feasibili-ty of designing this type of snake-like robots.