多关节蛇形机器人的结构设计和运动实现

杜雪林,易文慧,邹家华,周灿,毛立,邓利诗,刘颖

Structure design and motion realization of multi-joint snakelike robot

Xuelin DU,Wenhui YI,Jiahua ZOU,Can ZHOU,Li MAO,Lishi DENG,Ying LIU

表4 翻滚运动中蛇形机器人关节转角设置 ( （°）)

Table 4 Setting of joint angles for snakelike robot in tumbling locomotion

时间t/s 关节0 关节1 关节2 关节3 关节4 关节5 1 30 0 -30 0 30 0 2 0 30 0 -30 0 30 3 -30 0 30 0 -30 0 4 0 -30 0 30 0 -30 5 30 0 -30 0 30 0 时间t/s 关节6 关节7 关节8 关节9 关节10 1 -30 0 30 0 -30 2 0 -30 0 30 0 3 30 0 -30 0 30 4 0 30 0 -30 0 5 -30 0 30 0 30