蛇形机器人伸缩运动性能研究

摘要

In order to study the relationship between the performance of a snake-like robot ’ s concertina locomotion and the friction coefficient , the ground contact mechanisms of orthogonal series snak-like robots were designed by using the unidirectional passive wheel and the bidirectional passive wheel , respectively .The serpenoid curve formula was used to control the rhythm of vertical joints to realize the concertina locomotion .The influence of the frictional coef-ficient on the concertina locomotion gait of the robot using unidirectional passive wheel and the robot using bidirec -tional passive wheel , as well as the corresponding parameter adjustment strategies of the serpenoid curve formula , were found through aseries of experiments .%为研究蛇形机器人常用的典型步态———伸缩运动的性能与不同摩擦系数环境的关系，分别用单向被动轮和双向被动轮设计正交串联蛇形机器人地面接触机构。通过蛇形曲线公式控制蛇形机器人垂直关节节律实现伸缩运动。通过实验得出了摩擦系数对单向被动轮和双向被动轮接触面型蛇形机器人伸缩运动步态的影响及对应的蛇形曲线参数的调节策略。