蛇形机器人水下蜿蜒运动的仿真研究

该文对中国科学院沈阳自动化所研制的水陆两栖蛇形机器人的水下蜿蜒运动进行受力分析并用ADAMS做了动力学仿真。从关节角函数的幅值、频率和体内形成波的个数三个方面对蛇形机器人前进速度的影响进行了仿真,得出以下结论:存在一个最优关节角函数幅值,使得蛇形机器人前进速度达到最大;增加频率和在满足形成蛇形曲线的体内形成波个数的情况下减少形成波的个数会使机器人前进的速度增加。

Analyzed the force of the amphibious snake-like robot made by Shenyang Institute of Automation Chinese Academy of Science,Dynamic simulation snake-like robot s winding moving in water was made with the ADAMS.The simulation introduced the input of the joint angle function s amplitude,frequency and the number of body wave s influence on the winding movement of the snake-like robot.The simulation results show that:There is a optimum amplitude make the forward speed of snake-like robot to achieve maximum; incre...