Rolling Soft Membrane-Driven Tensegrity Robots
Rolling Soft Membrane-Driven Tensegrity Robots
复制标题
滚动软膜驱动张拉整体机器人
DOI：
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发表时间：
2020
影响因子：
5.2
通讯作者：
Rebecca Kramer‐Bottiglio
中科院分区：
文献类型：
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作者：
Robert L. Baines;Joran W. Booth;Rebecca Kramer‐Bottiglio
我们提出了一种设计、制造和控制滚动膜驱动的张拉整体机器人的方法。该方法通过气动膜致动器和滚动多面体的广义路径规划算法实现。膜致动器是平面的，以可扩展的方式组装，并适用于任意几何形状。它们的变形轨迹可以通过改变放置在其表面的单向层的堆叠顺序和方向来调整。我们演示了由柏拉图固体的多角面组成的同一套膜致动器的应用，以创建多面体张拉整体变体。虽然该算法可以推广到任何均匀或非均匀的n面多面体，但我们选择了三种特定的立方体、十二面体和菱形六面体形式的张拉整体来演示路径规划算法。膜驱动的张拉整体能够以独特的轨迹滚动，并绕过由构成其面的多边形的分布和类型决定的障碍。
We present a methodology for designing, fabricating, and controlling rolling membrane-driven tensegrity robots. This methodology is enabled by pneumatic membrane actuators and a generalized path planning algorithm for rolling polyhedra. Membrane actuators are planar, assembled in a scalable fashion, and amenable to arbitrary geometries. Their deformation trajectories can be tuned by varying the stacking sequence and orientation of layers of unidirectional lamina placed on their surfaces. We demonstrate the application of the same set of membrane actuators consisting of polygonal faces of Platonic Solids to create polyhedral tensegrity variants. Three specific tensegrities in the forms of cube, dodecahedron, and rhombicuboctahedron are chosen to demonstrate the path planning algorithm, though the algorithm is generalizable to any uniform or non-uniform $n$-sided polyhedra. The membrane-driven tensegrities are able to roll in unique trajectories and circumvent obstacles contingent on the distribution and types of polygons which constitute their faces.