【摘要】 基于生物蛇的结构特点,提出了一种模块化的蛇形机器人结构。在分析Serpenoid曲线的基础上,研究了蛇形机器人的运动轨迹,并将运动曲线离散化。然后,利用Matlab软件进行仿真,总结了各个参数对蛇形曲线形状的影响,确定了蛇形机器人蜿蜒向前和左右转弯时的蛇形曲线参数。更多还原

【Abstract】 In this paper,a modular mechanical design is adopted for the snake-like robot based on the snake’s biological structural characteristics.The movement track of the snake-like robot is studied,and the movement curve is discretized based on analysis of the Serpenoid curve.And through Matlab simulation,the impact of various parameters on the shape of the serpenoid curve is concluded,and the curve parameters of the snake-like robot’s winding forward,turning left and turning right are also determined.更多还原