可重排关节的无线蛇形机器人，轻量高效且防缠线。
Joint-repositionable Inner-wireless Planar Snake Robot
- 通过移动电机单元改变关节连接方式，实现灵活变形。
- 整机仅重1.3公斤，功耗低至7.6瓦，弯曲度高。
- 无线供电软肤层避免线缆缠绕，适合复杂环境应用。
仿生多关节蛇形机器人因无肢体结构和高灵活性，具备优异地形适应能力。然而，典型多关节蛇形机器人包含数十个电机单元，导致结构沉重、功耗高达数百瓦。本文提出一种可重排关节的内置无线蛇形机器人，采用低功耗欠驱动机制实现类多关节运动。该机器人由一系列柔性被动连杆组成，可通过在内部齿条上移动电机驱动的关节单元，动态调整关节耦合配置。此外，软体外皮通过无线方式为内部关节单元供电，避免了活动关节带来的线缆缠绕与断连风险。结合可重排关节机制与无线充电软肤，实现高柔韧性，整机重量仅1.3公斤，功耗低至7.6瓦。
原文摘要 · Abstract (English)
Bio-inspired multi-joint snake robots offer the advantages of terrain adaptability due to their limbless structure and high flexibility. However, a series of dozens of motor units in typical multiple-joint snake robots results in a heavy body structure and hundreds of watts of high power consumption. This paper presents a joint-repositionable, inner-wireless snake robot that enables multi-joint-like locomotion using a low-powered underactuated mechanism. The snake robot, consisting of a series of flexible passive links, can dynamically change its joint coupling configuration by repositioning motor-driven joint units along rack gears inside the robot. Additionally, a soft robot skin wirelessly powers the internal joint units, avoiding the risk of wire tangling and disconnection caused by the movable joint units. The combination of the joint-repositionable mechanism and the wireless-charging-enabled soft skin achieves a high degree of bending, along with a lightweight structure of 1.3 kg and energy-efficient wireless power transmission of 7.6 watts.
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