新型蛇形机器人蜿蜒运动的动力学分析

为提高蛇形机器人执行各种运动的能力,研制了新型蛇形机器人系统.重点研究了该蛇形机器人的动力学.建立了机器人的运动学模型,并根据运动学模型提出了控制蛇形机器人蜿蜒运动的复合运动控制方法.用拉格朗日方法建立动力学模型,对不同参数下蛇形机器人的关节力矩特性和摩擦力特性进行了分析比较,为蛇形机器人的有效运动提供了理论依据.

In order to increase the capability of locomotion,a new snake-like robot is designed.The dynamics of the new snake-like robot is mainly studied in this paper.Firstly,the kinematic model is set up,then the composite control method is proposed based on this model.Finally,the Lagrange method is used to build the dynamic model of the snake-like robot.The characteristics of torque of each joint and the frictional force under different parameters are compared for the better locomotion of this snake-like robot.

国家863计划资助项目(2001AA422360)