组合蛇形机器人:设计结构的分析与验证

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI:10.1109/RAAD.2010.5524580

J. Sitar, T. Hulmik, V. Racek

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引用次数: 0

摘要

蛇机器人是为了模仿蛇和蠕虫的运动而实现的。通过适当的运动结构和分段设计，达到了这一目的。然后对所设计的结构进行了仿真和验证，重点研究了机器人的运动可能性和尺寸。所介绍的机器人类型的优点是机构简单可靠，使蛇形运动与基于轮式或履带运动的复杂结构的机器人形成鲜明对比。在所提出的结构中，各种运动类型被耦合成一个蛇形系统。通过蛇形机器人分段的仿真和实验室模型对所设计的系统进行了验证。

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Combined snake robot: Analysis and verification of designed structure

Snake robots were realized in purpose of imitating of the snakes and worms movement. This purpose was achieved by applicable kinematic structure and segment design. After that the simulation and verification of designed structure was made with focus on the robot movement possibilities and dimensions. Advantage of introduced robot type is its simplicity and reliability of mechanism, which makes snake movement opposite robots, which are based on complex construction of wheel or track movement. In the presented structure various movement types are coupled into one snaking system. Designed system is verified by simulation and laboratory model of the snake robot segment.

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19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)

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