Design and Motion Analysis of Three-link Wheel Snake-like Robot

Xiaoqing Guan; Lü Zhiqiang

doi:10.16578/j.issn.1004.2539.2021.04.013

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Design and Motion Analysis of Three-link Wheel Snake-like Robot

Design· Calculation | 更新时间：2022-11-10

- Design and Motion Analysis of Three-link Wheel Snake-like Robot
- Journal of Mechanical Transmission Vol. 45, Issue 4, Pages: 75-79(2021)
- 作者机构：
  
  1.北京电子科技职业学院教务处，北京 100176
  2.北京理工大学机械与车辆工程学院，北京 100081
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.04.013
  CLC：
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管小清,吕志强.三连杆轮式蛇形机器人设计及运动分析[J].机械传动,2021,45(04):75-79.

Guan Xiaoqing,Zhiqiang Lü.Design and Motion Analysis of Three-link Wheel Snake-like Robot[J].Journal of Mechanical Transmission,2021,45(04):75-79.
管小清,吕志强.三连杆轮式蛇形机器人设计及运动分析[J].机械传动,2021,45(04):75-79. DOI： 10.16578/j.issn.1004.2539.2021.04.013.

Guan Xiaoqing,Zhiqiang Lü.Design and Motion Analysis of Three-link Wheel Snake-like Robot[J].Journal of Mechanical Transmission,2021,45(04):75-79. DOI： 10.16578/j.issn.1004.2539.2021.04.013.

摘要

为了克服被动轮驱动蛇形机器人运动能力弱的缺点，提出了一种新型三连杆主动轮驱动蛇形机器人。该蛇形机器人由多个被动关节连接的串联连杆组成，每个连杆的中心都有一个主动全向轮。全向轮的驱动力只作用于横向，而机器人则沿纵向运动。此外，针对该蛇形机器人具有非完整约束和欠驱动的特点，采用局部坐标系，设计了一种带有防滑功能的运动控制器，使运动和关节角度互不干涉。蛇形机器人蜿蜒爬行实验结果表明，所提出的设计是可行的，且运动控制器有效避免了全向车轮的打滑问题，提高了整个系统的稳定性。

Abstract

In order to overcome the weakness of the snake-like robot driven by driven wheels，a new three-link snake-like robot driven by driving wheels is proposed. The snake-like robot is composed of a plurality of serial connecting rods connected by passive joints，and the center of each connecting rod is provided with an active omnidirectional wheel. The driving force of omnidirectional wheels only acts on the transverse direction， while the robot moves along the longitudinal direction. In addition，aiming at the characteristics of incomplete constraint and underactuated snake-like robot， a motion controller with anti-skid function is designed by using local coordinate system， so that the motion and joint angle do not interfere with each other. The experimental results of slithered movement show that the proposed design is feasible， and the motion controller effectively avoids the problem of omnidirectional wheel slippage and improves the stability of the whole system.

关键词

蛇形机器人轮式驱动三连杆模块化主动轮非线性控制系统

Keywords

Snake-like robotWheel driveThree-linkModularizationActive wheelNonlinear control system

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