Force Analytic Method for Rolling Gaits of Tensegrity Robots
Force Analytic Method for Rolling Gaits of Tensegrity Robots
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张拉整体机器人滚动步态的受力分析方法
DOI：
10.1109/tmech.2016.2519559
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发表时间：
2016-01
期刊：
影响因子：
--
通讯作者：
Hirai Shinichi
中科院分区：
文献类型：
--
作者：
Du Wenjuan;Ma Shugen;Li Bin;Wang Minghui;Hirai Shinichi
提出了一种基于有限元法的张拉整体机器人滚动步态分析方法。通过分析滚动运动期间的力，可以解决以下问题。首先，发现了用于控制滚动运动的致动器组合（AC）与滚动方向之间的关系。其次，找出驱动参数对变形的影响，以获得优化的控制策略。第三，研究了材料参数对机器人滚动运动的影响，为机器人的设计提供了理论依据。张拉整体机器人是一种基于张拉整体结构的新型移动的机器人。张拉整体结构具有良好的抗冲击能力和高变形能力，可用于建造轻量化的移动的机器人。张拉整体机器人可以产生多种步态和多种变形。滚动步态比跳跃更稳定，比爬行更有效。针对滚动步态，为了解决上述三个问题，需要进行受力分析。张拉整体结构的内力总是保持平衡以维持结构的形状，但由于结构之间是高度耦合的，一个力的变化会改变其余的力，并对该力产生反馈效应。随着杆件数目的增加，受力的数目也随之增加，受力分析变得越来越复杂。现有的穷举实验方法可以通过大量的实验获得AC与滚动方向之间的关系，但这种方法无法判断驱动参数对变形的影响，并且基于某些机器人的实验结果不适用于其他机器人，而没有分析材料参数的影响。本文介绍了一种基于有限元的分析方法。以六杆张拉整体模型为例验证了该方法的可行性。在物理机器人上进行了实验，以验证计算结果的可靠性。
This paper proposes an analytic method based on finite-element method (FEM) for the rolling gaits of tensegrity robots. By analyzing forces during the rolling motions, the following problems can be solved. First, the relation between the actuator combinations (AC) and the rolling directions is discovered for controlling the rolling motions. Second, the influence of the driving parameters on the deformations is found out for obtaining the optimized control strategy. Third, the influence of the material parameters on the rolling motions is achieved as guidance to design physical robots. Tensegrity robots were proposed as novel mobile robots based on tensegrity structures that consist of discrete rigid struts and continuous elastic cables. The tensegrity structures process the shock resistance ability and high deformation capacity, and can be used to build lightweight mobile robots. The tensegrity robots can generate multiple gaits and multiple deformations. Rolling gaits are more stable than jumping and more efficient than crawling. Aiming at rolling gaits, to solve the three problems mentioned earlier, force analysis is required. The internal forces of the tensegrity structures always keep balance to maintain the shape of the structures, however, as the structures are highly coupled, the variation of one force will change the rest of the forces and generates feedback effects to this force. As the number of the forces increase with the growing number of struts, the force analysis becomes more and more complicated. The existing exhaustive experimental method can obtain the relation between the AC and the rolling directions through massive experiments, but this method cannot tell the influence of the driving parameters on the deformations and the experiment results based on certain robots are not suitable for other robots without analyzing the influence of the material parameters. In this paper, an analytic method based on FEM is introduced. A six-strut tensegrity model is used as an example to test the feasibility of the method. Experiments on a physical robot are performed to verify the reliability of the computation results.
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影响因子：
7.4
作者：
A. Pugh
通讯作者：
A. Pugh
DOI：
10.1109/icar.2005.1507415
发表时间：
2005-07
期刊：
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.
影响因子：
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作者：
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发表时间：
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期刊：
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通讯作者：
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影响因子：
6.4
作者：
Seok, Sangok;Wang, Albert;Kim, Sangbae
通讯作者：
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DOI：
10.1016/j.robot.2008.10.010
发表时间：
2009-05
期刊：
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影响因子：
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作者：
A. Rovira;J. M. M. Tur-J.-M.-M.-Tur-2468491
通讯作者：
A. Rovira;J. M. M. Tur-J.-M.-M.-Tur-2468491