1单元--snake-robot-蛇形机器人
一类蛇形机器人系统的运动学分析.
一类蛇形机器人系统的运动学分析¹黄恒 º颜国正 »丁国清高志军(上海交通大学信息检测技术及仪器系上海 200030摘要针对复杂、人力所不能及的作业环境 , 提出一种仿蛇类生物的蛇形机器人。
这种多关节机器人采取了自然界中蛇的形体及运动特点 , 通过各部分协调运动从而实现机器人的整体运动。
分析了机器人运动学模型 , 建立其运动学方程 , 并对机器人控制过程中的奇异状态问题进行了讨论。
关键词蛇形机器人 , 仿生学0 引言针对障碍物众多、凹凸不平等非结构环境 , 研究人员提出了仿蚯蚓、蛇类生物的多关节、多自由度仿生机器人。
同时伴随着仿生技术、计算机技术和控制技术的发展 , 为仿蛇类生物的多关节、多自由度机器人研究 , 特别在其体态运动控制的原理、系统构成、控制算法等方面的研究提供了强有力的支持 , 并取得了一些成果 [1-3]。
蛇类动物能够在极不规则的环境下运动 , 可以爬坡、跨越沟道、攀援等等 , 也能够在松软的沼泽或沙漠中运动 , 还能够通过蜿蜒曲折的狭窄的通道。
因此仿蛇机器人的研究得到了国际机器人领域的高度重视。
据报道 , 日本东京工业大学 Shigeo H-i rose [4]比较早的在这方面开展了一些研究工作 , 并研制了一系列的关节式机器人。
本文所研究的蛇形机器人对适应特殊环境机器人的实现有很大意义。
1 蛇形机器人的平面运动学方程研制的蛇形机器人如图 1所示。
当机器人在平面上移动时 , 它的简化系统模型描述如图 2所示 (图中只画出前3节 ,讨论中则针对图 1 蛇形机器人的实物图片高技术通讯 2002. 05¹º»联系人。
(收稿日期 :2001-03-16; 修订日期 :2001-06-20 男 , 1974年生 , 硕士 ; 研究方向 :机器人。
上海市曙光计划 (98SG18 资助项目。
具有 n 节的一般系统。
值得说明的是 , 本文所设计的蛇形机器人的轮足不是驱动轮 , 只具有滚动的功能 , 用以减小与接触面的摩擦力。
蛇形机器人英语作文
蛇形机器人英语作文English:The snake-shaped robot is a fascinating invention that combines advanced technology with innovative design. With its sleek and flexible body, the snake robot can slither through narrow spaces and navigate rough terrain with ease. Equipped with sensors and cameras, it can detect obstacles and adjust its movements accordingly, making it suitable for search and rescue missions in disaster zones or hazardous environments. Its ability to mimic the movements of a real snake allows it to access areas that are inaccessible to traditional robots, offering a unique solution for various applications such as inspecting pipes, exploring caves, or even medical procedures. The snake robot's versatility and adaptability make it a valuable tool in industries such as robotics, healthcare, and infrastructure maintenance, demonstrating the endless possibilities of technology in shaping the future.中文翻译:蛇形机器人是一个令人着迷的发明，它将先进技术与创新设计相结合。
蛇形机器人论文
\=论文题目：基于LPC2131的蛇形机器人硬件设计专业：自动化学生：宋代宁签名：__________指导教师：李红岩签名：__________摘要对于地震、瓦斯、有毒气或者空间狭小的场所，作为普通的人，我们难以完成某些任务，因此可以去寻找一些人类的替代品。
而蛇作为一种无脊椎生物，靠身体的蠕动可以灵活完成这些任务。
本课题以此为出发点，以LPC2131和51单片机为控制器，实现蛇形机器人的3个自由度运动，蛇前面装有摄像头、红外避障、数字遥控接收器、NRF905无线数据传输模块、超声波测距模块、LCD1602显示，监测部分用软件上位机来实现，方便人们了解情况。
蛇形机器人分为四个模块：电源、控制器、机械模块和无线传输模块。
蛇的执行部分主要有直流减速电机和MG955舵机。
以开关电源为主要部件，给直流电机和舵机分别提供12V、5V电压，控制器用蓄电池作为电源。
机械模块以UVPC管为原材料，锯成蛇身体的单元结构，再以铆钉连接。
无线控制部分由NRF905进行数据的传输，远程控制由无线式数字遥控实现。
论文主要介绍了蛇形机器人机械结构的制作方法，各个功能电路的原理，各模块的集成设计，各部件的选择及连接方式，各种元件的控制方法，及其实现的功能，充分展示了制作蛇形机器人的整个过程。
关键词：LPC2131，蛇形机器人，直流减速电机，舵机，NRF905Subject: Design of snake like robot based on LPC2131 software Specialty: AutomationName: Song Dai-ning (Signature) __________ Instructor: Li Hong-yan (Signature) __________ABSTRACTFor earthquake,poison gas or narrow space,as an ordinary people,we are difficult to accomplish some certain tasks,so we can go to find some substitute goods for human beings.The snake as a kind of invertebrates that creeping can be flexible to complete these tasks by the body.This topic is based on this opinion,so it uses LPC2131 and 51 single-chip microcomputer as the controller to achieve the three degrees of freedom movement of the snake-like robot.Cameras, infrared obstacle avoidance,digital remote control receiver,NRF905 wireless data transmission module, ultrasonic distance measuring module, LCD1602 display, and monitoring part with PC software are carried in front of the snake,so people know the situation. Snake-like robot is divided into four modules: power supply,controller,mechanical module and wireless transmission module. The snake's moves is depended on dc gear motor and MG955 steering gear. Switching power supplies 12v and 5v voltage for dc gear motor and steering gear, battery provided power for controller. Mechanical module use UVPC tube as raw materials, and divides into the snake unit structure of the body. Wireless is controlled by NRF905 for data transmission, remote control uses wireless digital controller .The subject introduces the method of making the snake-like robot mechanical structure,the function principle of the circuit,the integrated design of each module,the selection of components and connection mode,control method of various components and the functions,fully demonstrates the whole process of production of snake-like robot.KEY WORDS: LPC2131, Snake-like rooted gear motor, Steering gear, NRF905目录1 绪论 (1)1.1 蛇形机器人研究的背景和意义 (1)1.2 蛇形机器人的简介 (2)1.3 本文的结构安排 (4)2 理论概述 (5)2.1 主控制器 (5)2.1.1 LPC2131的简介 (5)2.1.2 51单片机 (7)2.2 蛇形机器人运动的算法实现 (9)2.3 超声波测距原理 (11)2.4 无线原理 (15)2.4.1无线数字遥控 (15)2.4.2 NRF905数据传输 (18)2.5 直流电机的原理 (18)2.6 PWM原理 (19)2.7 本章小结 (20)3 蛇体的系统设计 (21)3.1 蛇身的整体设计及选型 (21)3.1.1 机械材料的选择 (21)3.1.2 蛇形结构的确定 (21)3.1.3 蛇运动的模拟 (22)3.2 1602液晶显示模块 (23)3.2.1 1602引脚功能的简介 (23)3.2.2 1602的控制时序 (24)3.2.3 1602的操作指令 (27)3.2.4 1602的外围连接图 (28)3.3 超声波模块 (29)3.3.1 超声波的硬件结构 (29)3.3.2 由分立元件组成的发射和接受电路 (29)3.3.3 超声波程序的实现 (30)3.4 红外避障 (30)3.4.1 光电传感器工作原理 (31)3.4.2 红外避障原理图 (32)3.5 NRF905 (32)3.5.1 NRF905接口电路管脚说明 (32)3.5.2 NRF905的运行模式 (34)3.5.3 NRF905的编程流程 (34)3.5.4 NRF905的时序 (35)3.6 直流电机 (37)3.6.1 直流电机的驱动 (37)3.6.2 直流电机的控制 (38)3.7 舵机 (39)3.8 本章小结 (39)4 整体调试 (41)4.1 硬件调试 (41)4.2 上位机软件调试 (42)4.3 性能分析 (45)4.4 整体调试结论 (46)4.5 本章小结 (46)5 结论 (47)5.1 总结 (47)5.2 工作展望 (47)致谢 (49)参考文献 (50)附录 (51)附录1 3dmax设计图 (51)附录2机器人的单元结构图 (52)附录3硬件原理图 (52)附录4 Keil编程 (54)附录5 Labview原理图 (55)附录6 蛇形机器人的实物图 (55)1 绪论1.1 蛇形机器人研究的背景和意义随着科学的日益进步和人们生活水平的不断提高，机器人作为20 世纪人类的伟大发明之一，已经逐步地进入了生产和生活领域。
我的毕业设计--蛇形机器人(图片、视频)
我的毕业设计-------蛇形机器人（图片、视频）
我的毕业设计是自己定的课题，很早就有想法设计一种运动能力比较强的机器人，最终选择了蛇形机器人。
整个设计制作花了一个多月的时间，设计用途主要是想用于搜救、侦察、探测等，但现阶段还只是一个模型，有很多地方不足，不可能完成这些任务。
存在的问题主要有：
1.航模改装的舵机扭矩不够，希望大家能推荐一款性价比高的机器人舵机，查到春天的一款SR-402P的价格比较便宜，大家有没有用过，效果怎么样？
2.自主控制难以实现，采用遥控方式进行控制，采用的游戏手柄改的遥控器，但问题是只在头部安装了无线摄像头，不在人的视线范围内，就不能看到周围的地形情况，就不能很好控制其运动，多加几个无线摄像头感觉又不现实，查阅了很多资料，各国的蛇形机器人都只使用了一个摄像头，不知他们怎么解决的这一问题？另使用的无线摄像头传输距离只有几米，不知是什么原因。
在此发帖想请教一下大家，希望能提宝贵意见。
视频中的导线是电源线，实际工作是无线的。
用CATIA画的三维设计图，画得不好，见笑
航模舵机改装的机器人舵机，增加了一根支撑轴，加了小轴承
三自由度关节
遥控用的无线数据收发模块
游戏手柄改装的遥控器，没有用里面的电路，自己用单片机做的
背面的平衡充接口
要两个人配合遥控的
16路舵机控制板，拆了一些元件减轻重量，改了部分电路
直流电机控制芯片L298N
5V电源转换电路，LM2596-5.0，电流3A
控制部分整合在一起
无线摄像头，距离不够远
用旧电容改成外壳的LED灯。
蛇形机器人的工作原理
蛇形机器人的工作原理
蛇形机器人是一种模仿蛇类运动的机器人，它的工作原理可以分为硬件和软件两个方面：
硬件方面：
1. 结构设计：蛇形机器人的身体由一系列连续的关节单元和连接杆组成，每个关节单元都有自己的驱动器和传感器，可以自由弯曲和转动。
2. 驱动系统：每个关节单元都有一个电机或压电驱动器，用于控制关节的运动。
这些驱动器可以根据软件控制发送恰当的指令以实现不同的运动方式。
3. 传感器系统：蛇形机器人通常具有各种传感器，如陀螺仪、加速度计、压力传感器等，用于感知自身的姿态、环境条件以及与外部物体的接触等信息。
4. 电源系统：蛇形机器人需要电源来供电驱动器和其他电子设备。
软件方面：
1. 运动规划：通过计算机算法，根据机器人当前位置和目标位置，确定每个关节单元的驱动器运动方式，以生成合适的运动序列和控制指令。
2. 执行控制：将计算出的控制指令发送给各个关节的驱动器，使得机器人按照预定的运动轨迹和姿态进行运动。
3. 感知与决策：机器人通过传感器系统获取环境信息，并利用算法对这些信息进行处理和分析，根据需要作出相应的决策，调整机器人的运动方式和姿态。
根据蛇形机器人的工作原理，在软硬件的协同作用下，它可以实现各种复杂的身
体姿态和运动方式，如爬行、攀爬、游泳等，以适应不同的环境和任务需求。
蛇形机器人
整体骨架由 ABS
PC 板 和 PVC 硬 板 组 成 ， 在保证结构强度同 时减轻重量，方便 加工。
应用前景
此款蛇型机器人作为一个载具平台，通过在头部安装照明
灯，摄像头，主要从事复杂地形的探测拍摄工作。
因为采用模块化设计，可以安装其他传感器，机械装置等
进入狭小或危险环境内完成操作任务。
Thank You
蛇形机器人
山东理工大学 赵庆洋
制作背景 作品展示 结构说明 应用前景
目 录
CONTENTS
制作背景
自然界中的蛇能有多种 运动形式来适应环境的 变化。以蛇为模型而制 造的蛇形机器人，因为 很高的活动自由度能胜 任多种工作
蛇形机器人通过自由的关节
能进行三维上的运动，因此 有很高的通过能力。
随着机器人技术的进步，科 探，灾难救援，防恐防暴， 医疗，航天，军事，起居生 活等各个领域都能看到蛇形 机器人的身影。
作品展示
单个单元
前节由电机驱动主 动轮，构成单元由 两节构成，后节为 从动轮。
单个单元
主动轮由vex 393电机直接驱 动
结构说明 通过垂直和水 平向正交的关节来 拟和蛇 类生物柔软的 身体具 有两个方向的自由度， 整体形成一个 高冗余 度的结构体。
采 用 模 块 化 设 计 思
路 ， 两 侧 安装 有 主 ， 从动轮，保证了平 地机动性。
蛇形机器人英语作文
蛇形机器人英语作文Snake-like robots are a fascinating topic in the field of robotics. These robots are designed to mimic the movements of a snake, allowing them to navigate through various terrains and perform tasks that traditional wheeled or legged robots cannot easily accomplish. The unique design of snake robots enables them to slither throughtight spaces, climb obstacles, and even swim underwater.One of the key advantages of snake-like robots is their ability to adapt to different environments. Their flexible bodies allow them to maneuver through cluttered spaces, making them ideal for search and rescue missions in collapsed buildings or disaster areas. In addition, their ability to climb obstacles makes them well-suited for inspection and maintenance tasks in industrial settings or hazardous environments.The development of snake-like robots has also opened up new possibilities in the field of medical robotics.Researchers are exploring the use of these robots for minimally invasive surgeries, where their flexible bodies can navigate through the body's natural pathways with precision and control. This could potentially reduce the risk and recovery time for patients undergoing surgical procedures.In addition to their practical applications, snake-like robots have also captured the imagination of researchers and robotics enthusiasts alike. The elegant and fluid movements of these robots are a testament to the ingenuity and creativity of their designers. As technology continues to advance, we can expect to see even more sophisticated and versatile snake robots in the future.In conclusion, snake-like robots represent a remarkable fusion of nature and technology. Their unique design and capabilities make them valuable tools for a wide range of applications, from search and rescue missions to medical procedures. As we continue to explore the possibilities of robotics, it is clear that snake-like robots will play animportant role in shaping the future of technology and innovation.。
VOA慢速英语： 蛇形机器人像真蛇一样
VOA慢速英语：蛇形机器人像真蛇一样Snake Robot Acts Like Real SnakeFive years ago, the Mars Rover Spirit got stuck in sandon the red planet. Spirit is one of the American space agency’s two motorized vehicles on Mars. Recently, the other vehicle – Curiosity -- had to go a long way to avoid another sandy area. These incidents led some scientists to develop ways to keep the costly robots from being trapped in the sand. These scientists looked to nature for their ideas.The researchers flew deadly snakes to Zoo Atlanta in Atlanta, Georgia. The snakes, called sidewinder rattlers, are native to the southwestern United States.The creatures were put in a specially designed sandbox with inclines that could be raised up or lowered. The scientists used high-speed video cameras to record the position of the snakes as they moved sideways up different inclines. Their movement is called sidewinding.Daniel Goldman teaches physics at the Georgia Institute of Technology in Atlanta. He says the snakes moved easily in the sand -- even when the sand began moving.“They were quite go od at climbing angles, even close to the angle where the sand begins to cascade.”Mr. Goldman and other researchers wrote about their findings in the journal Science. They are said to be thefirst to explain this kind of snake movement.“We noticed tha t the animals were in fact sidewinding, using the same kind of pattern of sidewinding they use on hard ground, but laying instead of only a few points of contact on the body contacting the ground, they were essentially laying more and more snake body down on the hill as the incline angle increased.”Researchers then performed experiments with a robot developed at CarnegieMellon University in Pennsylvania. The robot is called MOD-Snake. It is one meter long, and has 16 parts or modules. Each module is 6 centimeters wide. Daniel Goldman says the robot has a long history of getting in and out of tight places."It turned out they had actually been using the sidewinding gait in their robot for many years to traverseall kinds of ground, but always had trouble on sandy dune inclines."Researchers wanted to get the MOD-Snake to climb in the same way as the sidewinder rattlers.“And those same waves existed in the robot and allowed it to make its maneuvers and allowed us to modify those waves to make the kind of maneuvers that the snake did on sand dunes of different inclines -- that is, laying down more robot as the hill angle increased.”The researchers performed the same experiment with other snakes closely related to the rattlers. But all of those creatures failed to slide up the inclines.Joe Mendelson is research director at Zoo Atlanta. He says the robot model helped explain why those snakes have trouble climbing.“We found a really fascinating system where the snake informs what the robot can do, and then we can manipulate the robot to do the things that either the snake won’t do or can’t do. And so we have this self-informing system that has really opened up new parameters within snake biology and robotics.”Mr. Mendelson adds that the next generation of Mod-Snake may be used to save lives or explore unexplored areas on Earth or even in space.“Robots are expensive. And a robot gets stuck in the sand, that’s a problem, especially if that sand happens to be, say, on one or another planet, or very distant from an exploration post. And you realize, part of going into this, we realize that sidewinders never ever, ever get stuck on sand!”The researchers hope the new sidewinder robot will travel up and down sand dunes just as well.I’m Jonathan E vans._____________________________________________________________Words in this Storyincline – n., a slanting surface ; slopemodule – n., one of a set of parts that can be connected or combined to build or complete somethingrattler - n., an informal name for an American snake with a group of hard, loose pieces called scales at the end of its tail that it shakes to make a noisesidewinding - n., the movement of something, especially the movement of some types of snakes, along its side across a surface。
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1单元snake robot 蛇形机器人space station 太空站seem possible 看起来可能be able to (do) = can 能够the World Cup 世界杯2单元look for 寻找keep out 不让……进入in the future 在未来，在将来pay for 付款come true (梦想)成为现实Teen Talk 青少年论坛go skating 去滑冰in style 时髦的，流行的fall in love with…爱上out of style 过时的hundreds of 好几百，许许多多all kinds of 各种，多种be free 免费on the one hand (在)一方面in 100 years (用于将来时) 一百年后on the other hand (在)另一方面be in high school 上中学as…as possible 尽可能…地live alone 独自居住=as…as sb cango swimming 去游泳get on with…与…相处，进展see sb do sth 看见某人做…have a hair cut 理发over and over again 一次又一次part-time job 兼职工作get bored 厌烦call sb up=ring sb up 打电话给……space rocket 太空火箭on the phone 在通话electric toothbrush 电动牙刷What’s the matter (with)? 怎么了？computer programmer 电脑程序员What’s wrong (with)? 怎么了？live to be 200 years old 活到200岁the same as…与……同样的（书上重要表达）complain about 抱怨……will be…将成为……argue with…与……争论study on computer 在电脑上学习surprise sb 使…惊奇as a reporter 作为一名记者borrow from…向……借keep a pet 养一只宠物lend to…把…借给…during the week 在一周期间find out 发现，找出wear a suit (uniform) 穿西装（制服）except me 除了我at the weekend 在周末do wrong 做错事on vacation 在假期under too much pressure 承受太多压力predict the future 预测未来take part in 参加the head of a company 公司负责人compare …with…把…和…比较need to do sth 需要做某事（书上重要表达）job interview 求职面视enough money 足够的钱science fiction movie 科幻电影write sb a letter 给某人写信just like…就像……a ball game 一场球赛help with +名词帮助做某事talk about…谈论…话题make sb do sth 使某人做……say sorry to…向…说对不起It’s easy for sb to do sth 做某事很简单have a bake sale 卖烤点wake up 醒来buy….for…. 为…买…get a tutor 请家教get out of the shower 洗完澡be popular at school 在学校受欢迎sleep late 睡懒觉everyone else 其他每个人buy a souvenir 买纪念品invite sb to do sth 邀请某人做某事go into=enter 进入fail the test 考试不及格call the police 报警return= give back 归还at around ten o’clock 在十点左右have a fight with…同…大吵、打架shop assistant 售货员give some advice 提建议the Museum of Flight 飞行博物馆busy enough 足够忙take a photo 照相not…until 直到……才walk around 四处走走nothing new 没什么新鲜的police officer 警官seem to do sth 好象要做某事a car accident 车祸push a lot more 逼得更紧event in history 历史事件a mother of three 三个孩子的妈妈in modern history 在现代史上know about…知道，了解……everyday activity 日常活动find it+形容词to do sth 发现做某事很…at that time=then 在那时think for oneself 为自己考虑ask sb to do sth 叫…做某事plan the life 计划生活in silence=silently 沉默地learn to do sth=study to do 学习做某事be born 出生a bit=a little 一点have meaning to sb 对…有意义organized activity 有组织的活动national hero 民族英雄by oneself 靠某人自己after-school club 课外俱乐部4单元get over 克服、恢复3单元sea level 海平面come in 进来Chinese Young Pioneer 中国少年先锋队World Trade Center (WTC) 世界贸易中心do well in=be good at 在…方面擅长as…as…和……一样pass on 传递take place=happen 发生first of all 首先hear about 听说report card 成绩单take off 起飞；脱下in good health 身体健康get out 出去，离开open up 打开barber shop 理发店be supposed to 被期待，被要求run away 逃跑，跑掉care for 照料，照顾in front of 在…前面senior high school 高中in the front of 在…前部the Ministry of Education 教育部walk down the street 沿着街走be mad at=be angry at 对……很生气an unusual experience 一次不寻常经历not…anymore 不再…Beijing International Airport 北京国际机场end-of-year exam 期末考试in space 在太空中have a favor 帮忙all over the world 全世界get nervous 变得紧张train station 火车站disappointing result 令人失望的结果（书上重要表达）copy one’s homework 抄袭作业（书上重要表达）play party games 玩聚会游戏have a surprise party 举行惊喜派对study for the test 为考试复习drinks and snacks 饮料和零食ask sb to do sth 叫某人做某事the next day 第二天ID card 身份证How is it going? 一切还好吗？travel around the world 环球旅游have a hard time with…对…感到头痛get an education 受教育have a big fight 大吵一架might seem like 似乎好象……forget to do sth 忘记做…(没做) a dream job 理想的工作It’s right for sb to do sth 做…是正确的all over the world 全世界start a bad habit 养成坏习惯make life difficult 使生活变得困难poor mountain village 贫困山区get injured 受伤change one’s life 改变…的生活have a difficult time doing sth 做某事很难the peking University 北京大学real friend 真朋友rural area 农村地区in fact 事实上make sb feel sick 使某人不舒服class party 班会agree with…同意……laugh at sb 嘲笑某人need to do sth 需要做某事dye the hair 染发three times a day 一日三次past tense 过去时school dormitory 学校校舍watch out 留神、小心outside world 外界finish doing sth 完成做某事6单元volunteer teacher 志愿者老师by the way 顺便说一句mother earth 地球母亲far (away) from…距离…很遥远be in danger 在危险之中run out of 用完，用尽more than=over 比…多；多于5单元和1-5单元复习be interested in…对……感兴趣take away 拿走the Olympic Games 奥运会make a living 谋生Hilltop School 山顶学校around the world 全世界raise money for charity 为慈善筹钱all the time=always 总是，一直a pair of skates 一双溜冰鞋mobile phone 移动电话，手机go native 入乡随俗in order to…为了……do (try) one’s best 尽某人最大努力let in 允许进入go together 相配；调和remind …of…使人想起……let sb know 让某人知道be hurt badly 严重受伤inline skating 纵列式溜冰make money 挣钱probably=maybe=perhaps 也许look up to 尊敬have sth done(过去分词) (请别人)做某事charity event 慈善事件polar bear 北极熊professional athlete 职业运动员three and a half years 三年半（书上重要表达）wear jeans 穿牛仔裤（书上重要表达）take a bus to……坐公车去……collect the stamps 集邮help sb do sth 帮助某人做……skating marathon 滑冰马拉松several=a few 几个pay a big fine 赔款be the first one to do sth 第一个做某事throw away 扔掉snow globe 雪球argue about…为……而争论anyone else 其他任何人sell out 卖完start a club 建立一个俱乐部five times the price 价格的5倍多tell sb about…告诉某人关于某事（书上重要表达）fly a kite 放风筝do the dishes 洗碗music video 音乐录影带look terrible 看起来很糟糕talent show 天才表演move the car 挪挪汽车Heilongjiang Province 黑龙江省help…with(名词) 帮助某人做某事colorful history 多彩的历史finish the task 完成任务European influence 欧洲风格的影响clothing store 服装店in Russian style 俄罗斯风格order a hamburger 预订个汉堡包Song Emperor 宋朝皇帝shop assistant 售货员western history 西方历史follow sb around=go after sb 跟着某人转The more…, the more…越…，就越……English-speaking country 说英语的国家learn about…学习……social behavior 社交行为have problem with…在…上有问题be useful to do sth 做某事很有用be close to…靠近……7单元in all situations 在各种场合下no problem 没问题feel uncomfortable 感到不舒服wait in line 排队等候even if 即使，就算keep…down 压低声音，使缓和be with sb 和…在一起pick up 捡起It’s better to do sth 最好做某事break the rule 违反规则public place 公共场合take care=be careful 当心，小心in public 在公共场所里put out the cigarette 熄灭香烟allow sb to do sth 允许某人做…at first (反) at last, finally 首先(反)最终see sb do(doing) sth 看见某人做…cut in line 插队give sb a suggestion 给某人提建议turn down (up) 关小(开大) take the suggestion 接受建议not at all 根本不；一点也不drop litter 扔垃圾Would you mind (not) doing sth 你介意(不)…吗？Could you please (not) do sth 请(不要)…好吗8单元turn on/off 开（关）fall asleep 入睡，睡着right away =in a minute 立刻give away 赠送，分发=at once make friends with sb 与……交朋友at a meeting 在开会hear of…听说……hair stylist 发型师，美容师the Olympics 奥运会get annoyed 变得气恼the Olympic Committee 奥委会get married 结婚take an interest in…对……感兴趣get mad 变得激动photo album 相册get angry 变得生气rather than…胜于;(与其)，不如happen to sb 某人发生某事make progress 取得进步these days=now 现在，目前gone to…已去某地(途中)too…to…太…以致于不能…get some exercise 锻炼give up doing sth 放弃做某事It takes forty minutes 花了40分钟give…to…给某人……Neither have I=me neither 我也没有(去)stage manner 舞台台风get to=reach=arrive in(at) 到达native speaker 说本族语的人take a lesson=have a lesson 上课learn by heart 用心记住（书上重要表达）look up (在书中)查询water park 水上乐园for a while 暂时，一会儿space museum 太空博物馆an 80-year-old grandmother 一位80岁的外婆take the subway 坐地铁China Radio International 中国国际广播电台Mickey mouse 米老鼠（书上重要表达）Donald Duck 唐老鸭get sb sth=buy sth for sb 给某人买……Disney character 迪士尼卡通人物How about=what about ……怎么样？theme park 主题公园Why don’y you do sth? 为什么不做…呢be themed with…被冠以…主题Why not do sth? （同上）walk around 四处走走special enough 足够特别Disney Cruise 迪士尼巡游pot-bellied pig named Connie 取名叫科尼尔的猪take a ride 搭乘……eat a lot 吃得多just like…就像，正如keep a pet 养宠物take different route 走不同线路pay for=spend for 为……付钱exchange student 交换生learn to do sth=study to do 学习做某事flight attendant 空中乘务员improve English 提高英语language school 语言学校enter a contest 参加比赛such as=for example 例如as well as…和……一样好listening skill 听力技巧age group 年龄组Southeast Asia 东南亚win the prize 赢得奖金take a holiday 度假encourage sb to do sth 鼓励某人做某事have problem doing sth 做某事有困难have fun with…做…很有乐趣foreign country 外国find out 找出，发现during the daytime 在白天find a way to do sth 找到做某事的方法wake up 醒来，唤醒某人be awake 醒着的9单元natural environment 自然环境end up 结束It’s best to do sth 做好做某事on board 在船上10单元have a great time 玩得愉快look through 浏览amusement park 娱乐园come along=appear 出现，发生tour guide 导游get along=get on with…相处three quarters 四分之三at least (反) at most 至少(反)最多Night Safari 夜间野生动物园have a small talk=chat 闲聊all year around 全年，一年到头opening question 开场白问题roller coaster 过山车thank-you note 感谢信(ever) been to…曾经去过某地cross the busy street 穿越繁忙的大街have a wonderful time 过得愉快show sb around 带某人参观某地be friendly to sb 对某人友好show the way 指路be happy to do sth 很高兴做某事have a hard time doing 做某事很困难invite sb to do sth 邀请某人做某事make it easy to do sth 使做某事容易have a family dinner 家庭聚餐go with sb 同某人一起去look both side 看两边win the game 赢得比赛（书上重要表达）dining room 食堂、饭厅Franklin Lake 弗兰克林湖holiday job 假期短工by noon 到中午之前review=go over 复习I hope so 但愿如此opposite word 反义词wait to do sth 等着做某事decide to do sth 决定做某事baby sister=younger sister 妹妹meet friends 会见朋友feel like doing=want to do sth 想做某事。