CAJ | 학술논문

为了建立一个可实际应用于蛇形机器人运动的通用且易于控制的步态,提出了一种基于serpenoid曲线的蠕动步态模型.通过对蠕动运动过程中相邻2个波形的分析和对serpenoid曲线的近似,建立了运动波形上各相邻连杆间的相对角度运动方程和各连杆与基线之间的绝对角度运动方程.并给出该步态的2个效率判据:能量损失函数f和一个周期的单位步长dunit.通过仿真和实验讨论了相关的3个参数(组成运动波形的连杆数n、相邻连杆的夹角α和相邻夹角的相位差β)对步态效率的影响.结果表明:f基本上不受n的影响,增加n可显著提高dunit,α的最大振幅随着n的增大而减小,对于确定的n,f对整个位移的影响随着α的增大而减弱.该步态模型可适用于运动波形由不同连杆数组成的蛇形机器人的蠕动,波形连杆较多或连杆夹角较大均可获得较大的运动速度.
위료건립일개가실제응용우사형궤기인운동적통용차역우공제적보태,제출료일충기우serpenoid곡선적연동보태모형.통과대연동운동과정중상린2개파형적분석화대serpenoid곡선적근사,건립료운동파형상각상린련간간적상대각도운동방정화각련간여기선지간적절대각도운동방정.병급출해보태적2개효솔판거:능량손실함수f화일개주기적단위보장dunit.통과방진화실험토론료상관적3개삼수(조성운동파형적련간수n、상린련간적협각α화상린협각적상위차β)대보태효솔적영향.결과표명:f기본상불수n적영향,증가n가현저제고dunit,α적최대진폭수착n적증대이감소,대우학정적n,f대정개위이적영향수착α적증대이감약.해보태모형가괄용우운동파형유불동련간수조성적사형궤기인적연동,파형련간교다혹련간협각교대균가획득교대적운동속도.
To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each link and the baseline on the traveling curve are built. Two efficiency criterions of the gait are given as the energy loss function f and the unit displacement in one cycle dunit Three parameters of the criterions affecting the efficiency of the gait (the number of links that form the traveling wave n, the included angle between two adjacent links α, and the phase difference of adjacent included anglesβ) are discussed by simulations and experiments. The results show that f is insensitive to n;raising n increases dunit significantly;the maximum wave amplitude of α is a decreasing function of n;and increasing α reduces the displacement influence off when n is determined. The gait model is suitable for different inchworm locomotions of a snakelike robot whose traveling waves are formed by different numbers of identical links. A wave formed by more links or a greater relative angle between two adjacent links both lead to greater velocity of the movement.