Dynamic equations of motion for a 3-bar tensegrity based mobile robot
Dynamic equations of motion for a 3-bar tensegrity based mobile robot
复制标题
DOI：
10.1109/efta.2007.4416935
复制
发表时间：
2007-09
期刊：
影响因子：
--
通讯作者：
J. M. M. Tur-J.-M.-M.-Tur-2468491;Sergi Hernandez Juan;A. Rovira
中科院分区：
文献类型：
--
作者：
J. M. M. Tur-J.-M.-M.-Tur-2468491;Sergi Hernandez Juan;A. Rovira
张拉整体结构可以为移动机器人的建造提供一种新的方法，这些机器人具有不同的形状和特性，而通常的轮式或腿式机器人不具备这些特性。张拉整体是一种轻质、可变形的结构，能够使其形式适应不受约束的环境。本文的主要问题是提出此类结构的动态运动方程，从拉格朗日的角度进行分析，并思考将它们用作任意形状和尺寸的移动机器人。
Tensegrity structures can give a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that may be able to adapt their form to unconstrained environments. The main issue of this paper is to present the dynamic equations of motion for such structures, analysed from a Lagrangian point of view, and thinking in using them as mobile robots of arbitrary form and size.