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应用虚拟机器人实验平台(V-REP)构建了一种基于Canfield关节型的运动机构,通过动力学仿真添加关节角度约束对其运动空间轨迹进行了观察与分析。利用该Canfield型机构作为关节模块组建成了蛇形机器人,并对该类蛇形机器人关节运动生成的蜿蜒、转弯和伸缩步态进行了实验研究和分析,为该类蛇形机器人设计提供了可行性。
A motion mechanism based on Canfield articulation was constructed by using Virtual Robot Experiment Platform (V-REP), and its motion space trajectory was observed and analyzed by adding kinematic simulation constraints. The Canfield-type mechanism is used as an articulated module to form a serpentine robot. The meandering, turning and telescopic gait generated by the articulation of the serpentine robot are experimentally studied and analyzed, providing the design of the serpentine robot feasibility.