Research Status of Movement and Connection Modes of Snake-like Robot

Ke Xianxin; Xin Jizhong; Yang Yang

doi:10.16578/j.issn.1004.2539.2015.04.045

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Research Status of Movement and Connection Modes of Snake-like Robot

更新时间：2022-10-20

- Research Status of Movement and Connection Modes of Snake-like Robot
- Vol. 39, Issue 4, Pages: 182-186(2015)
- 作者机构：
  
  1. 上海大学机电工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.04.045
  CLC：
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[1]柯显信,信继忠,杨阳.蛇形机器人移动和连接方式的研究状况[J].机械传动,2015,39(04):182-186.

Ke Xianxin, Xin Jizhong, Yang Yang. Research Status of Movement and Connection Modes of Snake-like Robot. [J]. 39(4):182-186(2015)
[1]柯显信,信继忠,杨阳.蛇形机器人移动和连接方式的研究状况[J].机械传动,2015,39(04):182-186. DOI： 10.16578/j.issn.1004.2539.2015.04.045.

Ke Xianxin, Xin Jizhong, Yang Yang. Research Status of Movement and Connection Modes of Snake-like Robot. [J]. 39(4):182-186(2015) DOI： 10.16578/j.issn.1004.2539.2015.04.045.

摘要

首先,分析了蛇形机器人常见的4种移动方式,即蜿蜒运动、行波运动、侧向运动和螺旋运动,以及各自的运动机理和特点。然后,针对蛇形机器人关节的连接方式,比较分析了较为成熟的平行连接、正交连接、万向节连接和P-R连接的各自特点和应用范围。最后,展望了蛇形机器人连接方式未来的发展趋势。

Abstract

First of all,the four modes of common motion,named serpentine locomotion,traveling wave motion,sideway motion and helical motion are analyzed.Then,for the connection mode of the joint of snake like robot,the characteristics and application range of the mature parallel connection,orthogonal connection,universal joint connection and P-R connection are compared and analyzed.Finally,the future development trend of the connection modes of the snake like robot is given.

关键词

蛇形机器人螺旋运动万向节连接P-R连接

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