1、沈阳航空学院学士学位论文 - 1 - 摘 要 本 文研究的主要内容是二自由度蛇形机器人单元设计。 其主要目标是 利用蛇（它的形态和姿势）做原形来 研究 具有 与 蛇的功能 相似 的蛇形机器人。 其 主要功能要求：能 利用 单元 之间的摆动是身体与环境之间的摩擦力能在凹凸不平 /粗糙的面蜿蜒前进，也能在光滑的表面上滑行前进； 能 利用关节之间的相对运动实现身体的抬起从而可以跨过小沟、裂缝和障碍物等。 蛇形机器人单元之间的摆动和抬起运动本文采用耦合驱动的方式来实现。 扭转运动是蛇形机器人的有效运动方式，利用该步伐蛇形机器人可以跨越障碍。在此基础上对蛇形机器人的扭转运动进行了扩展 ，使蛇形机器人不但
2、能够完成平面的扭转运动，而且可以将扭转运动与其它的运动形式结合起来，完成复合运动。当然这种复合运动不仅仅局限在二维复合运动，还包括比较复杂的三维运动，而且本文提出的简化输入方法有利于蛇形机器人在扭转运动过程中有效适应地形。 关键词： 蛇形机器人； 机构设计； 耦合驱动； 运动分析；沈阳航空学院学士学位论文 - 2 - Abstract This paper deals with the two degrees of freedom module of snake-like robot. Utilizing the snake (its forms and motion) as a model
3、to develop a snake-like robot. The snake-like robot perform the following functions: It can propel itself over uneven/rough ground and swim in a fluid by using its slender body； It can move across branches or crevasses, because it can tighten its body to make a linematically stable posture by using
4、its long body and highly redundant actuators. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the
5、pitching-DOF and yawing-DOF, with which the snake-like robot can move on rough ground and even climb up some obstacles. The twist-related locomotion function is firstly solved, and simplified to be expressed by sine orcosine function. The 2D locomotion such as V-shape and U-shape is achieved. Alsoby
6、 applying it to the serpentine locomotion or other types of locomotion, thesnake-like robot can complete composite locomotion that combines the serpentinelocomotion or others with twist-related locomotion. We extend the twist-related locomotion to 3D space. The experimental results are presented to validate all above analyses. Keywords: snake-like robot； mechanism design； coupled drive； analysis of creeping locotion
