| 卢振利* **,康发*.具有推进关节的蛇形机器人搭建与运动控制研究[J].高技术通讯(中文),2025,35(8):882~890 |
| 具有推进关节的蛇形机器人搭建与运动控制研究 |
| Construction and motion control of a snake robot with propulsive joints |
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| DOI：10. 3772 / j. issn. 1002-0470. 2025. 08. 007 |
| 中文关键词: CoppeliaSim； Arduino； 推拉式电磁铁； 蜿蜒运动； 姿态角度编程 |
| 英文关键词: CoppeliaSim, Arduino, push-pull electromagnet, meander motion, attitude angle programming |
| 基金项目: |
| 作者 | 单位 | | 卢振利* ** | （*盐城工学院机械工程学院盐城 224051）
（**苏州工学院电气与自动化工程学院常熟 215500） | | 康发* | |
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| 中文摘要: |
| 为了能够让机器人在复杂环境下具有更强的通过性，设计搭建了一种具有推拉式电磁铁的仿生蛇形机器人。该装置整体采用舵机与推拉式电磁铁协同工作的模式，在伸缩处给合了单向被动轮与滑轨的设计。先通过CoppeliaSim仿真平台对机器人蜿蜒步态和直线步态分别进行分析与参数调节，对被动轮选择进行对比，后选择最优曲线参数。编程并通过Arduino单片机进行控制，分析了推进关节作用下蛇形曲线参数改变对机器人运动的影响。最后针对由于推进关节的存在所导致的蜿蜒曲线顶点现象，提出一种姿态角度控制优化方法。 |
| 英文摘要: |
| In order to make the robot more passable in complex environment, a kind of bionic snake robot with push-pull electromagnet is designed and built. The device as a whole adopts a mode of cooperative operation between the servo and the push-pull electromagnet, and incorporates the design of one-way passive wheel and slide rails at the telescopic parts. Firstly, the meandering gait and linear gait are analyzed and adjusted by CoppeliaSim, the passive wheel selection is compared, and then the optimal curve parameters are selected. Programmed and controlled by Arduino microcontroller, the influence of parameter change of serpentine curve on the propelling joint is analyzed. Finally, an attitude angle control optimization method is proposed to solve the sinuous curve vertex phenomenon caused by the presence of propulsive joints. |
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