Design and Locomotion Analysis of a Retractable Snake-like Robot Based on 2-RRU/URR Parallel Module

被引：0

作者：

Bian, Hui ^{[1
,2
]}

Sun, Lanlan ^{[1
,2
]}

Lei, Yunfei ^{[1
,2
]}

机构：

[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China

[2] Yanshan Univ, Key Lab Adv Forging & Stamping Technol & Sci, Minist Educ, Qinhuangdao 066004, Hebei, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT I | 2019年 / 11740卷

关键词：

Bionic robot; Snake-like robot; Modular design; Locomotion analysis;

D O I：

10.1007/978-3-030-27526-6_61

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Snake-like robots have always been the research focus for the unique hyper-redundant structure. The existing snake-like robots can move on complex surfaces, swim in the water, and even climb a tree. However, they cannot pass through a long, narrow hole whose diameter is similar to their own. Even the snakes in nature also face the same problem because of their series physical structure. Inspired by the annelid earthworms and leeches, a new type of retractable snake-like robot based on 2-RRU/URR parallel module is proposed. And its length can be adjusted between 850 mm to 1500 mm because of the translational degree of freedom (DOF) of 2-RRU/URR. Further, typical movement such as serpentine locomotion, traveling wave locomotion and rectilinear locomotion are analyzed and verified by experiments.

引用

页码：692 / 700

页数：9

共 12 条

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