基于新型渐开线球形齿轮的蛇形机器人设计分析
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摘要
提出一种基于新型渐开线球形齿轮的蛇形机器人模型。首先介绍了蛇形机器人的结构和工作原理,分析了3D打印渐开线球形齿轮的啮合特点,对由偏摆单元以及驱动单元组成的偏摆角度及位置实时可控的单骨节进行设计分析,再对5骨节的蛇形机器人位置坐标进行分析,最后对单骨节和蛇形机器人的运动进行仿真以及单骨节实物的运动模拟和实验,结果表明设计可行有效。
A snake like robot model based on new involute spherical gear is proposed. Firstly,the structure and working principle of snake like robot are introduced,the structural characteristics of 3D printing involute spherical meshing gears are analyzed. The design and analysis of a single bone joint with real time controllable yaw angle and position composed of yaw unit and driving unit are carried out. Then,the position coordinates of snake like robot with 5 bone nodes are analyzed. Finally,the movement of single bone and snake like robot is simulated and the motion simulation and experiment of single bone joint real object are carried out. The results show that the design is feasible and effective.
A snake like robot model based on new involute spherical gear is proposed. Firstly,the structure and working principle of snake like robot are introduced,the structural characteristics of 3D printing involute spherical meshing gears are analyzed. The design and analysis of a single bone joint with real time controllable yaw angle and position composed of yaw unit and driving unit are carried out. Then,the position coordinates of snake like robot with 5 bone nodes are analyzed. Finally,the movement of single bone and snake like robot is simulated and the motion simulation and experiment of single bone joint real object are carried out. The results show that the design is feasible and effective.
引文
[1]陈丽,王越超,李斌.蛇形机器人研究现况与进展[J].机器人,2002,24(6):559-563.
[2]苏中,张双彪,李兴城.蛇形机器人的研究与发展综述[J].中国机械工程,2015,26(3):414-425.
[3] ENDO G,TOGAWA K,HIROSE S. Study on self-contained and terrain adaptive active cord mechanism[C]∥Proceedings of the1999 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 1999),October 17-21,1999,Kyongju,South Korea. New York:IEEE,c1999:1399-1405.
[4] TOGAWA K,MORI M,HIROSE S. Study on three-dimensional active cord mechanism:development of ACM-R2[C]∥Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2000),October 31-November 5,2000,Takamatsu,Japan. New York:IEEE,c2000:2242-2247.
[5] YAMADA H,HIROSE S. Approximations to continuous curves of active cord mechanism made of arc-shaped joints or double joints[C]∥Proceedings of the 2010 IEEE international Conference on Robotics and Automation,May 3-7,2010,Anchorage,AK,USA. New York:IEEE,c2010:703-708.
[6]黄恒,颜国正,熊翔.蛇形机器人的运动策略[J].电机与控制学报,2002,6(3):249-251.
[7]李斌,马书根,王越超,等.一种具有三维运动能力的蛇形机器人的研究[J].机器人,2004,26(6):506-509.
[8]赵铁石,林永光,缪磊,等.一种基于空间连杆机构的蛇形机器人[J].机器人,2006(6):629-635.
[9]张佳帆,杨灿军,陈鹰,等.蠕动式机器蛇的研究与开发[J].机械工程学报,2005(5):205-209.
[10]高兴华,刘洋,杨泽,等.渐开线离散球齿轮齿面接触分析[J].机械传动,2017,41(4):44-47.
[11]陈丽,王越超,马书根,等.蛇形机器人行波运动的研究[J].机械工程学报,2004(12):38-43.
[12] TAKAOKA S,YAMADA H,HIROSE S. Snake-like active wheel robot ACM-R4.1 with joint torque sensor and limiter[C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems,September 25-30,2011,San Francisco,CA,USA. New York:IEEE,c2011:1081-1086.
[13]潘存云,温熙森.渐开线环形齿球齿轮传动原理与运动分析[J].机械工程学报,2005(5):1-9.
[14]姚齐水,李常义,潘存云.渐开线环形齿球齿轮的几何建模及其齿面方程研究[J].机械设计与研究,2006(2):60-63.
[15]张胜,徐艳松,孙姗姗,等. 3D打印材料的研究及发展现状[J].中国塑料,2016,30(1):7-14.
[2]苏中,张双彪,李兴城.蛇形机器人的研究与发展综述[J].中国机械工程,2015,26(3):414-425.
[3] ENDO G,TOGAWA K,HIROSE S. Study on self-contained and terrain adaptive active cord mechanism[C]∥Proceedings of the1999 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 1999),October 17-21,1999,Kyongju,South Korea. New York:IEEE,c1999:1399-1405.
[4] TOGAWA K,MORI M,HIROSE S. Study on three-dimensional active cord mechanism:development of ACM-R2[C]∥Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2000),October 31-November 5,2000,Takamatsu,Japan. New York:IEEE,c2000:2242-2247.
[5] YAMADA H,HIROSE S. Approximations to continuous curves of active cord mechanism made of arc-shaped joints or double joints[C]∥Proceedings of the 2010 IEEE international Conference on Robotics and Automation,May 3-7,2010,Anchorage,AK,USA. New York:IEEE,c2010:703-708.
[6]黄恒,颜国正,熊翔.蛇形机器人的运动策略[J].电机与控制学报,2002,6(3):249-251.
[7]李斌,马书根,王越超,等.一种具有三维运动能力的蛇形机器人的研究[J].机器人,2004,26(6):506-509.
[8]赵铁石,林永光,缪磊,等.一种基于空间连杆机构的蛇形机器人[J].机器人,2006(6):629-635.
[9]张佳帆,杨灿军,陈鹰,等.蠕动式机器蛇的研究与开发[J].机械工程学报,2005(5):205-209.
[10]高兴华,刘洋,杨泽,等.渐开线离散球齿轮齿面接触分析[J].机械传动,2017,41(4):44-47.
[11]陈丽,王越超,马书根,等.蛇形机器人行波运动的研究[J].机械工程学报,2004(12):38-43.
[12] TAKAOKA S,YAMADA H,HIROSE S. Snake-like active wheel robot ACM-R4.1 with joint torque sensor and limiter[C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems,September 25-30,2011,San Francisco,CA,USA. New York:IEEE,c2011:1081-1086.
[13]潘存云,温熙森.渐开线环形齿球齿轮传动原理与运动分析[J].机械工程学报,2005(5):1-9.
[14]姚齐水,李常义,潘存云.渐开线环形齿球齿轮的几何建模及其齿面方程研究[J].机械设计与研究,2006(2):60-63.
[15]张胜,徐艳松,孙姗姗,等. 3D打印材料的研究及发展现状[J].中国塑料,2016,30(1):7-14.