论文部分内容阅读
根据松毛虫和尺蠖蠕动前行的特点以及仿生学原理,基于模块化思路分别提出了松毛虫和尺蠖爬壁机器人运动学构型.针对两种模型,讨论比较了它们的安全性和可用步态.通过分析松毛虫的蠕动步态和尺蠖步态,发现基于全主动关节驱动的松毛虫模型中存在冗余驱动问题.但由于松毛虫模型具有更多的可用步态,因此比尺蠖模型具有更高的安全性.这两种模型的样机由若干吸附模块和关节模块构成,以验证两种蠕虫机器人的爬壁能力.试验表明由于松毛虫机器人运动时存在冗余驱动,导致吸盘出现侧滑力,同时验证了尺蠖机器人在竖直壁面上的爬壁能力.为了进一步改进尺蠖机器人的吸附能力,采用了一种非对称的运动步态.
According to the characteristics of creeping movement of pine caterpillars and scales and the bionics principle, the kinematics configurations of pine caterpillars and scull climbing robots are proposed respectively based on the modularized ideas. For the two models, their safety and available gait are discussed By analyzing the creep gait and scale gait of the pine caterpillars, we found that there are redundant driving problems in the pine caterpillar model driven by the all-active joint, but because the pine caterpillar model has more available gait, it has more High safety.The prototype of the two models consists of several adsorption modules and joint modules to verify the climbing ability of the two kinds of worm robots.Experiments show that there is redundant driving force in the movement of the pine caterpillar robot, , And at the same time validated the climbing ability of the robot on the vertical wall.In order to further improve the adsorption capacity of the robot, an unsymmetrical motion gait was adopted.