| 一种新型的攀爬蛇形机器人 |
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| 引用本文： | 孙洪.一种新型的攀爬蛇形机器人[J].苏州市职业大学学报,2009,20(1):27-31. |
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| 作者姓名： | 孙洪 |
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| 作者单位： | 苏州市职业大学,电子信息工程系,江苏,苏州,215104 |
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| 摘 要： | 针对蛇形机器人最常采用的三种关节连接方式：平行连接、正交连接和万向节连接，通过典型实例进行了工作空间的分析和比较，提出了一种具有万向节功能的P．R（pitch-roll）模块．该模块结构简单、便于控制，所组成的蛇形机器人理论上可以实现各种三维攀爬动作．最后通过研制的新型攀爬蛇形机器人样机，验证了P-R模块的可实现和灵活性．
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| 关 键 词： | 蛇形机器人 平行连接 正交连接 万向节连接 P-R模块 工作空间 |
A New Style Climbing Snakelike Robot |
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| SUN Hong.A New Style Climbing Snakelike Robot[J].Journal of Suzhou Vocational University,2009,20(1):27-31. |
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| Authors: | SUN Hong |
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| Institution: | SUN Hong (Department of Electronic Information Engineering, Suzhou Vocational University, Suzhou 215104, China) |
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| Abstract: | Three most dominant joints＇ links, namely parallel link, orthogonal link and universal joint link, of snakelike robot were presented by typical models. Based on examples, their operating spaces were analyzed and compared. Then a new functional module for joints＇ combination, named Pitch- Roll, was presented. This module has the function of universal joint, but is simpler to implement and easier to control. A snakelike robot based on this link module can theoretically perform all types of maneuvers in 3D spaces. Finally, the prototype of a new type snakelike robot based on the P-R module was produced, which further verified the agility of P-R module. |
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| Keywords: | snakelike robot parallel link orthogonal link universal joint link P-R module operating space |
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