CAJ | 학술논문

随着仿生机器人的发展，实现蛇形机器人多形式越障运动，关节电机起关键作用。主要探讨了蛇形机器人关节电机的选择。可作为蛇形机器人关节的目前有四种电机可选：球形步进电机、舵机、伺服电机和步进电机。选用舵机作为关节电机，将很难克服堵转弊病，位置闭环系统以及体积问题也不适应蛇形机器人的力学情况；选用带减速的步进电机是较可行的方案。但选用步进电机必须解决解决三大问题：提高输出转矩，加大减速比；提高高压电源电压；解决电机外壳的散热。这三项都是行之有效的措施。
수착방생궤기인적발전，실현사형궤기인다형식월장운동，관절전궤기관건작용。주요탐토료사형궤기인관절전궤적선택。가작위사형궤기인관절적목전유사충전궤가선：구형보진전궤、타궤、사복전궤화보진전궤。선용타궤작위관절전궤，장흔난극복도전폐병，위치폐배계통이급체적문제야불괄응사형궤기인적역학정황；선용대감속적보진전궤시교가행적방안。단선용보진전궤필수해결해결삼대문제：제고수출전구，가대감속비；제고고압전원전압；해결전궤외각적산열。저삼항도시행지유효적조시。
Joint motors play a significantly important role for snake robots to exert self-reconstruction function,and enable themselves to slide over barriers in various ways.This paper discusses the selection of the snake like robot joint motor.As the snake like robot joint currently has four motor optional:spherical stepper motor,servo motor and servo,stepper motor.lf servo motors cho-sen to be joint motors,we can hardly solve problems such as locked-motor malady,closed-loop position system,and the un-suitable mechanics situation caused by servo motors' bulk.There are three effective ways such as bigger reduction,raising voltage of high voltage power supply by using high-low voltage driving circuit and heat dissipation of motor casing.