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卢振利 1;2;3，李 斌2 （1. 常熟理工学院电气与自动化工程学院，江苏 常熟 215500； 2. 中国科学院沈阳自动化研究所机器人学国家重点实验室，辽宁 沈阳 110016； 3. 阿威罗大学电子和信息通信工程研究所，阿威罗 3810-193，葡萄牙） 摘 要：模仿蛇在水中游动，设计了蛇形机器人仿真模型．通过蛇形曲线控制该机器人在动力学仿真水环境中实现蜿蜒游动．实验分析了蛇形曲线公式中起始弯角、S 波个数、弧长变化率对蜿蜒游动性能的影响．实验结果表明：在一定范围内，增大蛇形曲线公式中起始弯角、S 波个数、弧长变化率等参数的值，蛇形机器人的蜿蜒游动速率也随着增加．
关键词：蛇形机器人；蜿蜒运动；蛇形曲线；高效游动
中图分类号：TP24 文献标识码：A 文章编号：1002-0446(2015)-06-0748-06
Dynamics Simulation Analysis on Serpentine Swimming Performance of a Snake-like Robot LU Zhenli1;2;3，LI Bin2 (1. School of Electrical Engineering and Automation, Changshu Institute of Technology,Changshu 215500, China; 2. State Key Laboratory of Robotics, Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang 110016, China; 3. Institute of Electronics and Telematics Engineering of Aveiro, University of Aveiro, Aveiro 3810-193, Portugal) Abstract: Imitating the swimming of snakes, a simulation model of snake-like robot is developed. The robot can realize serpentine swimming in dynamic water environment in simulation based on a serpenoid curve. The influences of bending angle, number of S-shape wave and changing rate of arc length in serpenoid curve formula on swimming performance are analyzed through experiments. The experimental results show that, in fixed range, with the increasing of the value of bending angle, number of S-shape and changing rate of arc length in serpenoid curve formula, the swimming velocity of the snake-like robot will become larger.
Keywords: snake-like robot; serpentine movement; serpenoid curve; high efficient swimming
蛇形机器人蜿蜒游动性能动力学仿真分析.pdf
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发表于 2016-3-18 11:25:19
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