摘要
设计了一种由气体驱动的波壳伸缩式人工肌肉的、多方向弯曲的柔性关节,阐述了由此弯曲关节为基础的模块、及由多模块构成的蛇形机器人的设计思路.此关节原理采用万向节为柔性骨架,弹性的波壳受气压后轴向膨胀作为肌肉动力.给出了柔性关节的简单结构、蛇形机器人的基本构造、接受与控制系统的硬件组成,气体驱动系统的原理图以及旋转配气阀的结构.
A flexible bending joint with two degrees of freedom is introduced in the paper, which is made of artificial muscle by pneumatic bellows elongation and constriction. Especially, a new design idea of modules is put forward, which are based on bending joint and make for snake-like robot. For the joint, the global gimbal is used as a framework, and the expandable cylindrical bellows elastomers by air pressure is used as a muscle. The paper presents essential structure of the joint, basic formation of bionic snake-like robot, hardware components of receiver and controller, and main sketch of drive system and sketch of rotational adjustive pneumatic valve.
出处
《江南大学学报（自然科学版）》
CAS
2006年第3期337-340,共4页
Joural of Jiangnan University (Natural Science Edition)
关键词
蛇形机器人
柔性关节
多自由度弯曲
驱动系统
snake-like robot
flexible joint
bending with two degrees of freedom
drive system
