中文摘要：

为了开发一种能够在废墟狭窄空间中运动的搜救机器人,模仿尺蠖结构和运动特征,提出了具有多自由度易变形的仿生尺蠖移动机器人。搜救机器人在灾难现场运动时环境复杂、障碍物多,针对机器人在瓦砾狭小的空间移动运动策略较难确定的问题,提出了一种通过分析仿生生物肌肉组织的机械性能获得运动策略的方法。数值仿真结果表明尺蠖生物运动能够满足机器人多自由度的变形运动,解决了运动策略问题,为仿生尺蠖移动机器人实现移动搜救功能提供运动控制理论基础。

英文摘要：

In order to develop a way to rubble in the earthquake and rescue robot motion detection, according to the hydrostatic skeletal -muscular system principle, a flexible biomimetic inchworm mobile robot with multiple de- grees of freedom is designed. For search and rescue robot movement in the complex environment of the disaster site, many obstacles, identified in the rubble for a small robot motion control problem spaces strategy, a method is presen- ted to analyze the movement control strategy bionic mechanical properties of biological muscle tissue. Simulation re- sults show that the biological muscles inchworm robot can meet multiple degrees of freedom motion control strategy to solve the problem, and the bionic inchworm mobile robot is able to achieve mobile search and rescue functions.