| 人工肌肉多自由度弯曲柔性关节的仿生蛇形机器人 |
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| 引用本文： | 章军,须文波. 人工肌肉多自由度弯曲柔性关节的仿生蛇形机器人[J]. 江南大学学报(自然科学版), 2006, 5(3): 337-340 |
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| 作者姓名： | 章军 须文波 |
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| 作者单位： | 1. 江南大学,机械工程学院,江苏,无锡,214122
2. 江南大学,信息工程学院,江苏,无锡,214122 |
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| 摘 要： | 设计了一种由气体驱动的波壳伸缩式人工肌肉的、多方向弯曲的柔性关节,阐述了由此弯曲关节为基础的模块、及由多模块构成的蛇形机器人的设计思路.此关节原理采用万向节为柔性骨架,弹性的波壳受气压后轴向膨胀作为肌肉动力.给出了柔性关节的简单结构、蛇形机器人的基本构造、接受与控制系统的硬件组成,气体驱动系统的原理图以及旋转配气阀的结构.
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| 关 键 词： | 蛇形机器人 柔性关节 多自由度弯曲 驱动系统 |
| 文章编号： | 1671-7147（2006）03-0337-04 |
| 收稿时间： | 2005-01-11 |
| 修稿时间： | 2005-03-30 |
A Kind of Bionic Snake-Like Robot Driven by Flexible Bending Joints Made of Artificial Muscle with Two Degrees of Freedom |
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| ZHANG Jun,XU Wen-bo. A Kind of Bionic Snake-Like Robot Driven by Flexible Bending Joints Made of Artificial Muscle with Two Degrees of Freedom[J]. Journal of Southern Yangtze University:Natural Science Edition, 2006, 5(3): 337-340 |
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| Authors: | ZHANG Jun XU Wen-bo |
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| Affiliation: | 1. School of Mechanical Engineering, Southern Yangtze University, Wuxi 214122, China ; 2. School of Information Technology,Southern Yangtze University,Wuxi 214122, China |
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| Abstract: | A flexible bending joint with two degrees of freedom is introduced in the paper,which is made of artificial muscle by pneumatic bellows elongation and constriction.Especially,a new design idea of modules is put forward,which are based on bending joint and make for snake-like robot.For the joint,the global gimbal is used as a framework,and the expandable cylindrical bellows elastomers by air pressure is used as a muscle.The paper presents essential structure of the joint,basic formation of bionic snake-like robot, hardware components of receiver and controller,and main sketch of drive system and sketch of rotational adjustive pneumatic valve. |
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| Keywords: | snake-like robot flexible joint bending with two degrees of freedom drive system |
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