| 陈涛,唐斌,张平.三足软体爬行机器人设计与研究[J].,2022,62(6):633-640 |
| 三足软体爬行机器人设计与研究 |
| Design and research of three-legged soft crawling robot |
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| DOI：10.7511/dllgxb202206011 |
| 中文关键词: 软体爬行机器人 线缆驱动 3D打印 转向 路径规划 |
| 英文关键词: soft crawling robot cable driving 3D printing turning route planning |
| 基金项目:国家自然科学基金资助项目(11672058). |
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| 中文摘要: |
| 设计了一种三足软体爬行机器人，完成了机器人的直线、转向和路径规划运动实验研究．该软体爬行机器人采用了模块化设计，躯干和腿由硅胶和3D打印材料结合制造而成，便于组装和维护．软体爬行机器人前后腿的末端分别固定有摩擦滑块，用以辅助运动．软体爬行机器人采用电机-线缆驱动方式，通过对驱动电机的控制器编程，控制3个驱动电机协同工作来实现不同的运动形式，进行了直线爬行、转向运动和路径规划实验．实验结果证明，所提出的三足软体爬行机器人具备连续爬行和切换运动模式的复杂运动功能． |
| 英文摘要: |
| A three-legged soft crawling robot is proposed, and the straight-line and steering motions and path planning experiments are carried out. The soft crawling robot adopts a modular design. The legs and the trunk are made of silicone and 3D printing materials, which are easy to assemble and maintain. The ends of the soft crawling robot′s front and rear legs are fixed with friction sliders to assist with the robot′s movement. The straight-line soft crawling robot has a motor-tendon driving system, and the action is realized by programming the motor controller and simultaneously controlling the three driving motors. The linear crawling and steering motions and path planning experiments are fulfilled. The experimental results show that the proposed three-legged soft crawling robot has the functions of complex movements, such as continuously crawling and mode switch motion. |
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