Motion behavior of a 30-strut locomotive tensegrity robot

IF 1.9 4区工程技术 Q3 MECHANICS

Mechanics Research Communications Pub Date : 2024-04-05 DOI:10.1016/j.mechrescom.2024.104270

Meijia Wang , Yafeng Wang , Ruhe Mei , Zhaojun Liu , Xian Xu

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引用次数: 0

Abstract

Tensegrity structure is a prestressed self-equilibrated system consisting of compressed struts and tensioned tendons. The shape and position of tensegrity can be actively controlled by changing the lengths of members, making it attractive as a platform for adaptive bionic and locomotive robots. In this paper, the regular 30-strut tensegrity is used as the skeleton of a locomotive robot. The robot is flexible and highly redundant, making it adaptive to unconstrained environments and ideal for various co-robotic scenarios such as space exploration, emergency rescue, and so on. Compared with the 6-strut tensegrity robot, the 30-strut tensegrity robot with more controllable degrees of freedom possesses more various motion behaviors as well as gait primitives. To demonstrate the effectiveness of the motion behaviors of the 30-strut locomotive robot, we analyze the diverse collection of behaviors generated by actively changing the lengths of struts. It is found that rolling motion is robust and easy to be actuated, and multi-gait and individual-gait of rolling motion are observed. However, its high dimensionality and strong dynamic nature complicate the motion control. A physical prototype is manufactured to verify the found motion behaviors. The results show the potential uses of 30-strut tensegrity as multifunctional locomotive robots.

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30 支杆机车张力结构机器人的运动行为

张拉结构是一种预应力自平衡系统，由压缩支柱和张拉筋组成。张拉结构的形状和位置可以通过改变构件的长度来主动控制，因此它可以作为自适应仿生机器人和机车机器人的平台。本文采用常规的 30 根张拉格构作为机车机器人的骨架。该机器人具有灵活性和高度冗余性，能够适应无约束环境，是太空探索、紧急救援等各种协同机器人应用场景的理想选择。与 6 支杆张弦机器人相比，可控自由度更高的 30 支杆张弦机器人拥有更多样的运动行为和步态基元。为了证明 30 支杆机车机器人运动行为的有效性，我们分析了主动改变支杆长度所产生的各种运动行为。研究发现，滚动运动具有鲁棒性，易于驱动，并且可以观察到多步态和单步态的滚动运动。然而，它的高维度和强动态特性使运动控制变得复杂。我们制造了一个物理原型来验证所发现的运动行为。研究结果表明了 30 支杆张拉整体结构作为多功能机车机器人的潜在用途。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanics Research Communications 物理-力学

CiteScore

4.10

自引率

4.20%

发文量

114

审稿时长

9 months

期刊介绍： Mechanics Research Communications publishes, as rapidly as possible, peer-reviewed manuscripts of high standards but restricted length. It aims to provide: • a fast means of communication • an exchange of ideas among workers in mechanics • an effective method of bringing new results quickly to the public • an informal vehicle for the discussion • of ideas that may still be in the formative stages The field of Mechanics will be understood to encompass the behavior of continua, fluids, solids, particles and their mixtures. Submissions must contain a strong, novel contribution to the field of mechanics, and ideally should be focused on current issues in the field involving theoretical, experimental and/or applied research, preferably within the broad expertise encompassed by the Board of Associate Editors. Deviations from these areas should be discussed in advance with the Editor-in-Chief.