基于蚯蚓原理的多节蠕动机器人

详细信息

A Multi-unit Creeping Robot Based on Earthworm Principle

Institute of Precision Engineering and Intelligence Micro System, School of Electronics and Information Technology, Shanghai Jiaotong University, Shanghai 200030, China

摘要: 介绍了多节蠕动机器人的机体构造和运动原理，建立了机器人运动模型并进行了分析．阐述了该机器人系统的控制组成和软件设计．讨论了机器人在不同倾角橡胶管道内的驱动性能试验．进行了机器人温度试验及转弯性能试验．结果表明：该微小型机器人运行可靠、平稳，控制方便，有一定的爬坡能力；连续工作时机器人温度不超过35℃；可通过大于36mm的弯曲半径．该研究为非结构环境狭小空间及人体消化道探察机器人的研制奠定了基础．
- 蠕动 /
- 机器人 /
- 驱动机理 /
- 运动模型
Abstract: The structure and locomotion principle of the multi unit creeping robot are introduced. The kinematic model is built and analyzed, and the control blocks and software design are discussed in detail. Some actuating experiments have been done when the micro robot creeps in the declining rubber tubes. The experimental results show that this micro robot can move reliably in horizontal and certain declining curving tubes. The temperature of robot is under 35℃ when it moves continually. The robot moves freely when the curve radius is more than 36mm. This research has laid a foundation for the development of miniature robots used in unstructured environments such as limited spaces and intestinal tract.
- creeping /
- robot /
- locomotion mechanism /
- kinematic model

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