仿蚕机器人的运动特性分析和仿真研究
Analysis and Simulation of Motion Characteristics of Silkworm-robot

以蚕为典型生物进行观察分析，采用拍摄测量的方法，对蚕的身体做了静态测量，对蚕的运动进行了动态测量，对蚕运动速度进行定量分析，获得了蚕的形态规律特点。采用连杆机构建立了蚕的运动模型，提出了仿生机器人模块化结构方案，在ADAMS软件中建立了其虚拟样机模型。通过仿真计算，实现了仿蚕机器人的运动形态，分析了仿蚕机器人运动过程中关节扭矩的变化情况，制作了二维蠕动样机，并进行了试验。
As typical biological, the body and the movement of the silkworm is observed and analyzed by the method of shooting measurement, and the shape and dynamic characteristics of silkworm movement are obtained. The structure scheme of the bionic robot was designed by the link mechanism. The scheme of silkworm-robot is established by modular structures. The virtual prototype model of machine silkworm is set up. And throgh ADAMS simulation, the motion form of silkworm-robot is realized. The changes of joint torque is analysed, the two dimension peristaltic prototype is made, and the creeping experiment is carried out