基于Recurdyn的蛇形机器人的蜿蜒运动仿真

摘要

The snake - like robot composed of nine joints was proposed in this paper. The serpentine locomotion mechanism of snake - like robot was studied, and its moving model was established in the multibody system dynamics simulation software Recurdyn. The joint angle functions of serpentine locomotion were set up. By adding some restrictions for model in Recurdyn and setting moving functions, the simulation was introduced the input of the joint angle function' s influence on the winding movement of the snake - like robot. The simulation results show that the snake - like robot can complete the serpentine locomotion set before.%提出一种由九个关节组成的蛇形机器人,研究了该蛇形机器人的蜿蜒运动机理,在多体系统动力学仿真软件Recurdyn中建立了蛇形机器人的运动模型,并对蜿蜒运动时各关节角函数进行了设置.通过在Recurdyn软件的仿真环境中添加各种驱动,设定运动函数,对关节角函数对蛇形机器人前进速度的影响进行了仿真验证.结果表明,提出的蛇形机器人能够完成预定的蜿蜒运动.