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The Dynamics Simulation of Snake-like Robot with SMA Motion
Author(s): 
Pages: 30-33
Year: Issue:  6
Journal: Journal of Mechanical Transmission

Keyword:  形状记忆合金蛇形机器人运动学仿真虚拟样机;
Abstract: 针对仿蛇形机器人关节多、模型复杂等特点,采用CATIA和MSC.ADAMS软件对蛇形机器人进行了从样机模型建立到运动学仿真与分析等一系列研究;并根据STEP5函数具有一阶与二阶导数连续、较高的逼近程度等特性验证了蛇形机器人前后移动和左右转弯步态可行性;找到了一种在ADAMS环境下求解机器人运动的方法,简化了理论计算,提高了设计效率.
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