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针对蛇形机器人的蜿蜒运动,分析了其运动机理,在虚拟样机软件中导入了蛇形机器人结构模型,建立了动力学方程,对蛇形机器人的运动轨迹进行了规划,分析了关节角度函数中转角幅值、摆动频率、相位差、比例因子以及静摩擦系数对其运动轨迹的影响。结果表明,通过合理设置关节角度函数中的各个参数,能保证蛇形机器人的运动具有基本的稳定性,且一定范围内的参数变化能实现最佳直线蜿蜒运动。最后,给出了各个关节的驱动力矩,为驱动机构的选型和物理样机的加工提供了理论依据。
According to the meandering motion of the serpentine robot, the movement mechanism of the serpentine robot is analyzed. The serpentine robot structure model is imported into the virtual prototyping software and the kinetic equation is established. The trajectory of the serpentine robot is planned. The joint angle function The angle of rotation angle, the frequency of oscillation, the phase difference, the proportionality factor and the static friction coefficient on its trajectory. The results show that by setting reasonable parameters of the joint angle function, the stability of the serpentine robot can be guaranteed, and the variation of the parameters within a certain range can achieve the best linear serpentine motion. Finally, the driving torque of each joint is given, which provides a theoretical basis for the selection of the driving mechanism and the processing of the physical prototype.