一种桨身融合蛇形两栖子母机器人的机构设计和运动学仿真

doi:10.3724/SP.J.1218.2014.00224

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李彦文, 李擎, 苏中, 刘福朝. 一种桨身融合蛇形两栖子母机器人的机构设计和运动学仿真[J]. 机器人, 2014, 36(2): 224-232.DOI: 10.3724/SP.J.1218.2014.00224. LI Yanwen, LI Qing, Su Zhong, LIU Fuchao. Mechanism Design and Kinematics Simulation of a Snake-like AmphibiousMother-Daughter Robot with Blended-Oar-Body. ROBOT, 2014, 36(2): 224-232. DOI: 10.3724/SP.J.1218.2014.00224.

摘要

为实现机器人拓展仿生、多模式运动、多子体协作等要求，完成了一种新型两栖机器人的机构设计．将蛇形机器人和类水母的游动方式相结合，区别于传统的轮桨鳍腿足等设计理念，参照翼身融合、船桨划水以及壁虎断尾的原理，分别采用了桨身融合、桨叶可开合和子母分体等新概念．为验证设计，研制了包括子体、关节部和分体部在内的机器人各部分．最后通过各运动机构的数学模型结合UG运动机构仿真、MATLAB数值分析和实物试验验证了机器人各部分设计的合理性和可行性．

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关键词 ：桨身融合体, 子母分体, 两栖蛇形机器人, 机构设计, 运动学

Abstract：

To meet the requirements of robot's bionic expansion, multimode locomotion and multi-daughter collaboration, the mechanism design of a new kind of amphibious robot is presented. The swimming modes of snake and jellyfish are combined in the robot design. Furthermore, referring to the principles of blended-wing-body, oar pulling and tail cutting escape way of a house lizard, this design uses some new design concepts like blended-oar-body, hinged oar and mother-daughter separable body other than the traditional designs of wheel, propeller and fin leg. To verify the design, the daughter part, the joint part and the separable part of the robot are all developed. With the mathematical models of each motion mechanism, the rationality and feasibility of the robot parts' motion mechanism designs are finally proved by UG motion simulation, MATLAB numerical analysis and the test experiments.

Key words： blended-oar-body mother-daughter separable body amphibious snake-like robot mechanism design kinematics

收稿日期: 2013-10-07 录用日期: 2013-12-28

TP242.3

基金资助:

国家自然科学基金委员会及香港研究资助局联合科研基金资助项目（61261160497）；北京市科技计划课题（Z121100001612007）；北京市教委市属高校创新能力提升计划资助项目（PXM2013_014224_000093）

通讯作者: 李擎，liqing@bistu.edu.cn E-mail: liqing@bistu.edu.cn

作者简介: 李彦文（1987-），男，硕士生。研究领域：机器人机构设计及控制，机器人地图构建。
李擎（1964-），女，博士，教授。研究领域：导航制导与控制，飞行器控制。

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2014.00224 或 https://robot.sia.cn/CN/Y2014/V36/I2/224

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