| 能实现垂直缠绕攀爬的蛇形机器人 |
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| 引用本文： | 孙洪.能实现垂直缠绕攀爬的蛇形机器人[J].苏州市职业大学学报,2020(2):6-9. |
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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学院 |
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| 基金项目： | 江苏省自然科学基金(面上项目)资助项目(BK2011319)。 |
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| 摘 要： | 垂直缠绕攀爬的蛇形机器人是基于模块化的P_R(pitch_roll)关节,以串行总线舵机作为关节驱动装置,其控制系统采用协调级和执行级配合的二级结构,以空间三连杆组成的蠕动爬行作为基本步态,实现了蛇形机器人具有垂直缠绕攀爬的功能。
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| 关 键 词： | 蛇形机器人 垂直缠绕攀爬 P-R关节 步态 总线舵机 |
A Snake Robot Capable of Vertical Winding Climbing |
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| SUN Hong.A Snake Robot Capable of Vertical Winding Climbing[J].Journal of Suzhou Vocational University,2020(2):6-9. |
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| Authors: | SUN Hong |
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| Institution: | (School of Electronic&Information Engineering,Suzhou Vocation al University,Suzhou 215104,China) |
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| Abstract: | A snake robot is developed,which can realize vertical winding climbing.The robot is based on the modular P_R(pitch_roll)joint,and the serial bus steering gear is used as the joint drive device.The control system adopts a two-level structure of coordination level and execution level.The creeping crawling composed of three connected rods in space is used as the basic gait,and the vertical winding climbing is realized. |
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| Keywords: | snake robot vertical winding climbing P-R joint gait bus steering gear |
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