抗冲击柔性张拉整体机器人SUPERball v2的设计

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI:10.1109/IROS.2018.8594374

Massimo Vespignani, Jeffrey M. Friesen, Vytas SunSpiral, J. Bruce

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引用次数: 49

摘要

在本文中，我们介绍了SUPERball v2的系统设计和初步测试，SUPERball v2是一个完全重新设计的2米球形六杆张拉整体机器人，旨在高速着陆并移动到指定位置。SUPERball v2的设计是为了实现一系列新的驱动和实验。原型机采用全驱动六杆设计(24个执行器)、柔性尼龙电缆(拉伸率高达15%)、扭矩控制电机和坚固的机械结构，能够承受高达8米/秒的冲击速度。

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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Design of SUPERball v2, a Compliant Tensegrity Robot for Absorbing Large Impacts

In this paper, we present the system design and initial testing of SUPERball v2, a completely re-designed 2-meter spherical six-bar tensegrity robot designed to survive high-speed landings as well as locomote to desired locations. SUPERball v2 was designed to enable a host of new actuation and experimentation. The prototype features a fully actuated six-bar design (24 actuators), compliant nylon cables (up to 15% stretch), torque-control enabled motors, and a robust mechanical structure capable of surviving impact velocities upwards of 8 m/s.

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2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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