拉线式蛇形机械手臂设计与仿真分析.pdfVIP

ABSTRACT Industrial manipulator is a common robot, but the movement space and the degree of flexibility is limited, and the snake robot arm just to make up for these deficiencies. This paper is to study Snake manipulator Arms based on the rope type. Searching task in natural disasters，repairing assignment inside the pipe ， performing reconnaissance missions in militarily ，We can see the body of snake robot. So the study of snake robot is very important This paper studies the structure design of the Snake manipulator Arms ，movement of the snake robot and motion simulation. First, the structure of snakes in the world is introduced. We put forward the design of the joint module.The snake manipulator arms use motor drive previous. Use a rope to control the locomotion of the snake manipulator arms. It is useful for reducing the weight of the arm. Electromagnetic brake control braking. According to different environments and applications, designers can easily adjust the number of modules. Secondly, Observe the law of locomotion the snake manipulator arms. The kinematic model is established to obtain joint position and joint velocity. With the help of serpentine curve,we study the locomotion of the snake manipulator arms. Especially the serpentine locomotion, crossing obstacle. Lastly, Use simulation software to simulate the serpentine motion. By setting the parameters,get the desired locomotion, Displacement, velocity, angular velocity and angular acceleration curve of each joint.We also know factors which affect the forward speed of the robot. Key words: snake manipulator arms locomotion simulation rope control