A reconfigurable robot with tensegrity structure using nylon artificial muscle
A reconfigurable robot with tensegrity structure using nylon artificial muscle
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DOI：
10.1117/12.2219641
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发表时间：
2016-04
期刊：
影响因子：
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通讯作者：
Lianjun Wu;M. J. de Andrade;Tarang Brahme;Yonas T. Tadesse;R. Baughman
中科院分区：
文献类型：
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作者：
Lianjun Wu;M. J. de Andrade;Tarang Brahme;Yonas T. Tadesse;R. Baughman
介绍了一种可自重构的二十面体移动机器人的设计和实验研究。该机器人由新颖的模块化张拉整体结构组成，可以在携带有效载荷的同时在非结构化环境中进行潜在的机动。根据需要使用扭曲和卷曲的聚合物(TCP)肌肉来驱动张拉整体结构。张拉整体系统有坚硬的支柱和灵活的TCP肌肉，允许将有效载荷保持在中心区域。TCP肌肉提供大的驱动行程、高单位纤维质量的机械功率，并可经历数百万次高度可逆的循环。肌肉是电热驱动的，在刺激下，加热的肌肉重新形成张拉整体结构的形状。在这里，我们提供了初步的实验结果，确定了结构的滚动运动。
This paper describes the design and experimental investigation of a self-reconfigurable icosahedral robot for locomotion. The robot consists of novel and modular tensegrity structures, which can potentially maneuver in unstructured environments while carrying a payload. Twisted and Coiled Polymer (TCP) muscles were utilized to actuate the tensegrity structure as needed. The tensegrity system has rigid struts and flexible TCP muscles that allow keeping a payload in the central region. The TCP muscles provide large actuation stroke, high mechanical power per fiber mass and can undergo millions of highly reversible cycles. The muscles are electrothermally driven, and, upon stimulus, the heated muscles reconfigure the shape of the tensegrity structure. Here, we present preliminary experimental results that determine the rolling motion of the structure.