中文摘要：

针对蛇形机器人的蜿蜒运动,分析了其运动机理,在虚拟样机软件中导入了蛇形机器人结构模型,建立了动力学方程,对蛇形机器人的运动轨迹进行了规划,分析了关节角度函数中转角幅值、摆动频率、相位差、比例因子以及静摩擦系数对其运动轨迹的影响.结果表明,通过合理设置关节角度函数中的各个参数,能保证蛇形机器人的运动具有基本的稳定性,且一定范围内的参数变化能实现最佳直线蜿蜒运动.最后,给出了各个关节的驱动力矩,为驱动机构的选型和物理样机的加工提供了理论依据.

英文摘要：

The mechanism of Serpentine locomotion of snake-like robot is studied according to Serpentine locomo- tion control. The model of snake-like robot is imported in the software of virtual prototyping, the equations of dynamics and is established, the motion curve of snake-like robot is planned, the influence of angle amplitude, phase difference, scaling factor and staticfriction coefficient on its motion curve are analyzed. The results show that it can be ensured the basic stability of snake-like robot by setting the parameters of joint angular function reasonably, and the best straight serpentine locomotion can be realized within a certain range of changing the parameters. At last, every joint torque is given, and a theoretical basis is provided for the driving mechanism and physical prototype.