摘要
本文针对蛇形机器人最常采用的三种关节连接方式:平行连接、正交连接和万向节连接,通过典型实例进行了工作空间的分析和比较。提出了一种具有万向节功能的P-R(pitch-roll)模块,该模块结构简单、便于控制,所组成的蛇形机器人可以实现各种三维攀爬动作。最后通过所研制的新型攀爬蛇形机器人样机,验证了P-R模块的可实现和灵活性。
In this paper, analysis and compare to operating space through the typical example performed on the three jiont conection type of the snake robot： parallel connection,orthogonal connection and universal jiont connection. Which presented a P-R （pitch-roll） module with universal function. This module simple struction and easy to control can be provided. This robot any 3-D climb movement can be realized. Finally, through the new climbing sanke robot sample verify realizability and flexibility on P-R moducle.
出处
《传动技术》
2008年第3期34-37,48,共5页
Drive System Technique
