十字轴万向节式蛇形机器人机构设计

摘要

According to the requirement of experimental teaching,a highly redundant DOF snake-like robot is designed.When studying the degrees of freedom calculation of the highly redundant DOF snake robot,it was discovered that the degrees of freedom of the snake-like robot was equal to the total number of the steering gear with the load on all the steering gears.For the multiple movement of the highly redundant DOF robot,a new type of joint connection,cross shaft universal joint connection,was proposed,which is evolved from the cross shaft universal joint often used in the mechanical structure.This joint connection can enable each body segment to have two degrees of freedom,and the two power output shaft can be completely orthogonal,so that the movement of the snake-like robot is more flexible and more convenient for motion control.For the simple structure of the highly redundant DOF robot,it is more suitable for robot experimental teaching.%在研究高冗余自由度蛇形机器人自由度的计算方法时,发现当蛇形机器人所有舵机均带有负载时,蛇形机器人的自由度数等于舵机的总数.为实现高冗余自由度蛇形机器人的多种运动模式,提出了一种新型的关节连接方式——十字轴万向节连接方式,它由机械结构中经常用到的十字轴万向节演变而来,使每个体节具有了2个自由度,并且实现了2个动力输出轴的完全正交.该结构使得蛇形机器人的运动更加灵活且运动控制更为方便,适合机器人实验教学的需求.