| 蛇形臂机器人研究与发展综述 |
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| 作者姓名： | 顿向明 敬忠良 |
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| 作者单位： | 上海交通大学航空航天学院 |
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| 基金项目： | 国家自然科学基金项目；国家863计划重点项目 |
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| 摘 要： | 介绍了蛇形臂机器人研究与应用的总体情况和具有代表性的样机设计，就关节型和变几何桁架型多冗余自由度蛇形臂的结构设计、运动学、运动规划、动力学与控制等关键技术的研究进展进行了综述，从任务需求和本身特色两方面对未来蛇形臂机器人技术的发展提出了建议。
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| 关 键 词： | 蛇形臂机器人 关节 变几何桁架（VGT） 冗余自由度 |
Review on Research and Development of Snake-Arm Robot |
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| Authors: | DUN Xiangmiing JING Zhongliang |
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| Institution: | School of Aeronautics and Astronautics, Shanghai Jiao Tong University |
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| Abstract: | The general situation of the research and application of the snake-arm robot and the typical prototype design are introduced in this paper. The key technologies of joint-type and variable geometry truss-type multi-redundant serpentine boom, such as structural design, kinematics, motion planning, dynamics and control, are reviewed. Some suggestions on the development of snake-arm robot technology in the future are put forward in terms of mission requirements and its own characteristics. |
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