仿尺蠖步态的爬杆机器人的动态仿真研究

以仿尺蠖步态的爬杆机器人为研究对象，对其机械结构及行进步态进行了分析，并进一步利用ADAMS软件建立了该仿生机器人的虚拟样机，对该仿生机器人进行了动态模拟仿真实验。研究了在爬杆过程中仿生机器人头部与尾部的速度及位移随时间的变化关系，以及该仿生机器人对变直径工作杆的适应能力，同时分析了不同摩擦材料制成的自锁机构对机器人运动特性的影响。仿真结果表明：该仿生机器人对于直径在一定范围内变化的工作杆有着较好的适应能力，且自锁机构的静摩擦系数为影响该机器人运动特性的关键参数。

Dynamic Simulation of the Pole Climbing Robot with Inchworm locomotion Gait

Take the pole climbing robot with Inchworm locomotion gait as the object of study, established the virtual prototype of the bionic robot with ADAMS software, and the dynamic simulation experiment is carried to the bionic robot. Studided the displacement and velocity of the head and the tail of the bionic robot along with time during the process of climbing, and the adaptability of the bionic robot to poles of variable diameter, as well as the influence of the self-locking mechanism made of different material of different friction coefficient on the characteristics of the robot movement. The simulation results show that ： the bionic robot has a good adaptability to poles of variable diameter changes in a certain range and the static frietion coefficient of the self-loeking mechanism is the critical factor that influence the motion characteristics.