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5 越障运动中蛇形机器人俯仰关节转角设置 ( （°）)

Table 5 Setting of pitch joint angle of snakelike robot in obstacle surmounting locomotion

越障种类 时间t/s 关节1 关节3 关节5 关节7 关节9 头部越障 1 -36 -27 36 -36 -36 2 -36 0 27 -22.5 -36 3 -36 0 0 0 0 身体越障 1 22.5 -27 36 -36 -36 2 -9 -27 27 27 0 3 22.5 0 0 0 0 尾部越障 1 0 36 8 -27 27 2 -31.5 7 31.5 22.5 27 3 0 0 0 0 27