【摘要】 提出了一种新型蛇形机器人机构。该机构既可以实现平面运动又可以实现空间运动。建立了其空间运动学模型并实现了空间翻滚运动。实验结果表明 :翻滚运动不需依靠模块与地面之间动摩擦力方向差来实现驱动 ,而是通过模块与地面之间静摩擦力和互相垂直的两个运动平面内异相波的相互作用产生驱动力。翻滚的方向和姿态由两个波形曲线的相差和传播方向决定。利用翻滚运动 ,实现了少模块数蛇形机器人的越障运动更多还原

【Abstract】 A new reconfigurable modular of snake robot was presented. The snake robot can not only move in a plane but also move spatially. The three dimensional kinematic model was also developed and the rolling locomotion was achieved. The results show that the rolling locomotion obtains its driving force through the interaction of two waves with phase difference from two different planes, but not from the difference of friction in normal and tangential direction. The rolling shape and direction depend on both phase difference and transferring direction of the two waves. Finally, it is turned into reality that a snake robot with a few modelers can cross obstacles through rolling locomotion.更多还原