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蛇形机器人水中转弯游动仿真研究

Simulation research on turning motion of underwater snake-like robots

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【Author】 Lu Zhenli;Xie Yafei;Xu Huigang;Liu Jun;Shan Changkao;Borovac Branislav;Li Bin;School of Electrical Engineering and Automation,Changshu Institute of Technology;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences;School of Information and Electrical Engineering,China University of Mining and Technology;Faculty of Biomedical Engineering & Instrumentation Science,Zhejiang University;Faculty of Technical Sciences,University of Novi Sad;

【机构】常熟理工学院电气与自动化工程学院；中国科学院沈阳自动化研究所机器人学国家重点实验室；中国矿业大学信息与电气工程学院；浙江大学生物医学工程与仪器科学学院；诺维萨德大学技术科学学院；

【摘要】观察了自然界蛇在水中遇到障碍时的游动状态,基于V-REP动力学仿真软件搭建了适于水中蜿蜒游动的蛇形机器人,并在蜿蜒游动的基础上研究了其转弯游动的性能。依据蛇形曲线,拓展了生成相位调整、中心因子调整和幅值调整的转弯游动方式。分析比较了各转弯方式的优缺点,为蛇形机器人应用于实际水中转弯游动提供了技术储备和可行性验证。更多还原

【Abstract】 Snake swimming locomotion in barrier environments is observed,and a snake-like robot model adaptable to underwater swimming is established by using the dynamics simulation software of V-REP,and then,its turning swimming performance is studied. According to the serpenoid curve,the turning swimming modes of phase adjustment,center factor adjustment and amplitude adjustment are generated. The advantages and disadvantages of each mode are analyzed and compared for providing the technical reserves and feasibility verification for snake-like robots’ actual underwater turning swimming.更多还原

【关键词】蛇形机器人；动力学仿真；蛇形曲线；转弯游动；
【Key words】 snake-like robot； dynamic simulation； serpenoid curve； turning swimming；

【基金】国家自然科学基金(61473283);机器人学国家重点实验室开放基金(2014-O08);校新引进教师科研启动(XZ1306)资助项目

【文献出处】高技术通讯 ,Chinese High Technology Letters , 编辑部邮箱 ,2017年Z1期

【分类号】TP242
【被引频次】1
【下载频次】243

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