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一种可重构蛇形机器人的研究
Mechanical Design of a Reconfigurable Snake Robot
查看参考文献8篇
文摘
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提出了一种新型的可重构蛇形机器人机构。该机构主要特点是单关节结构模块化,具有可适应地面形状变化的柔性连接环节和类似于蛇腹鳞磨擦特性的机构底部,手动可重构,当单自由度关节轴线互相平行连接时,该机构可实现多种平面运动形式,当单自由度关节轴线垂直依次连接时,形成的蛇形机器人具有两自由度的关节,可进行多种空间运动。试验结果证实,该蛇形机构重量轻、控制简单、运动灵活,能够很好地仿生蛇的多种运动形式。 |
其他语种文摘
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This paper presents a new kind of reconfigurable snake - robot. The machine can adapt the shape of the ground, and has the same friction characteristics as the ventral flake of a snake because of a new apparatus. It is manually reconfigurable: every two one-DOF modules are connected in parallel to achieve the planar locomotion of a snake, connected perpendicularly to achieve the spatial locomotion because they can form a joint of two-DOF. The results show it can achieve several types of planar and spatial locomotion like a natural snake because of its handiness, convenience and flexibleness. |
来源
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中国机械工程
,2003,14(16):1351-1353 【核心库】
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关键词
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可重构
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蛇形机器人
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平面运动
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空间运动
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地址
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1.
中国科学院沈阳自动化研究所, 沈阳, 110016
2.
中国科学院沈阳自动化研究所
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语种
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中文 |
文献类型
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研究性论文 |
ISSN
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1004-132X |
学科
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自动化技术、计算机技术 |
基金
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国家863计划
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文献收藏号
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CSCD:1240220
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参考文献 共
8
共1页
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1.
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被引
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2.
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7
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