【摘要】 为了提高拱泥机器人在泥土中转向的灵活性,从仿生机构的优化设计的角度出发,在对蚯蚓的生理结构与运动机理研究的基础上,提出了拱泥机器人的基本构成及其转向节的设计方案。从力学的角度分析了影响拱泥机器人转向灵活性的主要因素,利用姿态固定的位置空间方式对拱泥机器人转向节的工作空间进行了降维式研究,对转向节与支撑机构的装配关系进行了修正。通过数值计算和仿真分析得到了转向节的结构参数和运动参数对其自身的影响。更多还原

【Abstract】 In order to improve the turning flexibility of a move-in-mud robot in mud from the view of optimum design of bionic mechanism,the design plan of the basic structure of the move-in-mud robot and its turning mechanism is presented based on the research on physiological structure and motion mechanism of earthworms.The main influencing factors of the turning flexibility of the move-in-mud robot were analyzed by mechanics analysis,and the workspace of the turning joint of the move-in-mud robot was studied by a dimension-reduction method and using a fixed-attitude position space approach.The assembly relation of the turning joint and support mechanism was revised.The effect of structural parameters and motion parameters of turning joint on itself has been obtained by numerical calculation and simulation analysis.The results has been applied to the optimization of overall dimensions and the improvement of the turning flexibility of the move-in-mud robot.更多还原