基于飞蛇脊柱特点的展开/收紧机构系列支撑设计

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) Pub Date : 2014-12-01 DOI:10.1109/ROBIO.2014.7090691

Zuhui Jiang, Baolin Feng, Shibiao Zhao, Zhongshan Zheng, Lu Li, Kexuan Li

{"title":"基于飞蛇脊柱特点的展开/收紧机构系列支撑设计","authors":"Zuhui Jiang, Baolin Feng, Shibiao Zhao, Zhongshan Zheng, Lu Li, Kexuan Li","doi":"10.1109/ROBIO.2014.7090691","DOIUrl":null,"url":null,"abstract":"This article proposes a new design of a 3D unfolded/tightened mechanism based on the spine structure of golden tree snake, which can realize torsion and bending. Inspired by golden tree snake vertebrae space deformation characteristics, analyzing the anatomy characteristics of the golden tree snake spine bone and muscle distribution characteristics, The bionic mechanism and drive unit can drive the 3D unfolded/tightened mechanism and meet the demand of unfolded/tightened mechanism pose and adjustment, compared with the traditional unfolded/tightened mechanism. In this paper, dynamics model of this robot established by Lagrange method is represented.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Unfolded/tightened mechanism series support design based on characteristics of flying snake spine\",\"authors\":\"Zuhui Jiang, Baolin Feng, Shibiao Zhao, Zhongshan Zheng, Lu Li, Kexuan Li\",\"doi\":\"10.1109/ROBIO.2014.7090691\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article proposes a new design of a 3D unfolded/tightened mechanism based on the spine structure of golden tree snake, which can realize torsion and bending. Inspired by golden tree snake vertebrae space deformation characteristics, analyzing the anatomy characteristics of the golden tree snake spine bone and muscle distribution characteristics, The bionic mechanism and drive unit can drive the 3D unfolded/tightened mechanism and meet the demand of unfolded/tightened mechanism pose and adjustment, compared with the traditional unfolded/tightened mechanism. In this paper, dynamics model of this robot established by Lagrange method is represented.\",\"PeriodicalId\":289829,\"journal\":{\"name\":\"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)\",\"volume\":\"24 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2014.7090691\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2014.7090691","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

摘要

本文提出了一种基于金树蛇脊柱结构的三维展开/收紧机构的新设计，该机构可实现扭转和弯曲。受金树蛇脊椎骨空间变形特征的启发，分析了金树蛇脊椎骨的解剖特征和肌肉分布特征，与传统的展开/收紧机构相比，该仿生机构和驱动单元可以驱动三维展开/收紧机构，满足展开/收紧机构位姿和调整的需求。本文用拉格朗日方法建立了该机器人的动力学模型。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

Unfolded/tightened mechanism series support design based on characteristics of flying snake spine

This article proposes a new design of a 3D unfolded/tightened mechanism based on the spine structure of golden tree snake, which can realize torsion and bending. Inspired by golden tree snake vertebrae space deformation characteristics, analyzing the anatomy characteristics of the golden tree snake spine bone and muscle distribution characteristics, The bionic mechanism and drive unit can drive the 3D unfolded/tightened mechanism and meet the demand of unfolded/tightened mechanism pose and adjustment, compared with the traditional unfolded/tightened mechanism. In this paper, dynamics model of this robot established by Lagrange method is represented.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

自引率

0.00%

发文量