TrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules
TrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules
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DOI：
10.1109/icra46639.2022.9812295
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发表时间：
2022-05
期刊：
影响因子：
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通讯作者：
Y. Qin;L. Ting;Celestina Saven;Yumika Amemiya;Michael Tanis;R. Kamien;C. Sung
中科院分区：
文献类型：
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作者：
Y. Qin;L. Ting;Celestina Saven;Yumika Amemiya;Michael Tanis;R. Kamien;C. Sung
模块化和桁架机器人提供了高度可重构性和极大的功能灵活性的潜力，但依赖于刚性部件的常见实施方式往往导致高度复杂的致动和控制要求。本文介绍了一种新型的模块化柔顺机器人：TrussBot。TrussBot由3D打印的四面体模块组成，这些模块在拐角处通过柔性接头连接。我们提出了一个桁架的几何形状，分析其变形模式，并提供了一个模拟框架，预测其行为下施加的负载和驱动。TrussBot受到几何约束，因此需要柔顺运动类型来移动。TrussBot可以通过一个肌腱网络来驱动，该肌腱网络将顶点捏在一起，并由于结构的连接性而施加扭曲运动。桁架在物理原型中进行了演示，并与仿真结果进行了比较。
Modular and truss robots offer the potential of high reconfigurability and great functional flexibility, but common implementations relying on rigid components often lead to highly complex actuation and control requirements. This paper introduces a new type of modular, compliant robot: TrussBot. TrussBot is composed of 3D-printed tetrahedral modules connected at the corners with compliant joints. We propose a truss geometry, analyze its deformation modes, and provide a simulation framework for predicting its behavior under applied loads and actuation. The TrussBot is geometrically constrained, thus requiring compliant joints to move. The TrussBot can be actuated through a network of tendons which pinch vertices together and apply a twisting motion due to the structure's connectivity. The truss was demonstrated in a physical prototype and compared to simulation results.