Shape changing locomotion systems based on tensegrity structures

基于张拉整体结构的变形运动系统

• 批准号: 252841667
• 负责人: Professor Dr.-Ing. Valter Böhm
• 金额: --
• 依托单位: Fakultät Maschinenbau
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2014
• 资助国家: 德国
• 起止时间: 2013-12-31 至 2020-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/252841667?language=en
• 关键词: Shape; changing; locomotion; systems; based

Tensegrity structures build a specific class of compliant prestressed structures. A large shape variability of technical systems, based on these structures, that is desired in many application fields, can be realized with the use of few actuators by a simple system design.The aim of the project is the further development of the elaborated understanding of form finding and movement of compliant tensegrity structures and to use them for selected scenarios for the model-based design of mobile robots. In the development of the scientific basis for the design of mobile robots under consideration, the dynamic properties and energetic characteristics of systems, that move by a configuration change or by internal mass redistribution, the analysis of their controllability and the definition of optimal system parameters for selected motion algorithms build the research focus. Thereby, also nonclassical tensegrity structures with multiple states of stable equilibrium configurations are considered and their use in shape-changing mobile robots is investigated. Based on the results of model-based theoretical investigations, a technical realization including the development of prototypes is aimed. Future mobile robots based on the investigations should be able to autonomously adjust their locomotion strategies depending on the environment conditions or combine locomotion and manipulation functions.

紧张的结构建立了一类合规的预应力结构。基于这些结构的技术系统的较大形状可变性在许多应用领域中是必需的，可以通过简单的系统设计使用少数执行器来实现。该项目的目的是进一步发展对辅助张力紧张结构的形式发现和运动的精心理解，并将其用于基于移动机器人的模型设计。在开发正在考虑的移动机器人设计的科学基础上，系统的动态属性和能量特征，通过配置变化或内部质量再分配进行移动，对其可控性的分析以及所选运动算法的最佳系统参数的定义。因此，还考虑了具有多种稳定平衡配置状态的非经典张力结构，并研究了它们在改变形状的移动机器人中的使用。基于基于模型的理论研究的结果，针对包括原型开发在内的技术实现。基于调查的未来移动机器人应该能够根据环境条件自主调整其运动策略，或结合运动和操纵功能。