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设计和实验验证具有圆轮的多式蛇机器人

Xuan Xiao¹, Zizhu Zhao¹, Lianzhi Qi²

¹School of Computer Science and Technology, Tiangong University, Tianjin 300387, China.

Biomimetics (Basel, Switzerland)

|August 27, 2025

概括

这项研究介绍了JiAo-II,一种新型的多式蛇机器人,它结合了基于身体和轮子的运动方式. 这项创新提高了蛇机器人的速度和适应能力,

科学领域:

机器人技术
机械工程
机电学

背景情况:

蛇机器人提供灵活性和适应性,
现有的解决方案,如轮子或腿,

研究的目的:

开发一个多式蛇机器人, JiAo-II, 整合基于身体和轮子的机器人, 以改善地形穿越.
介绍机械设计,重点是圆轮和轮传动.

主要方法:

设计并实施了JiAo-II多式蛇机器人.
整合了创新的圆轮和一个专门的轮传动机制.
在不同的地形和具有挑战性的场景中进行实验.

主要成果:

在草原,空隙,斜坡,管道和圆柱形表面上进行有效的运动.
在没有外部传感器的不平坦地面上,
观察到运动速度,地形适应性和强度的显著提高.

结论:

这种多模式机制大大提高了蛇机器人的性能.
提供复杂地形导航的多功能解决方案.
这种方法克服了传统蛇机器人运动的局限性.

关键词:

基于机身的运动多式交通蛇机器人轮体协调运动轮式机动车

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