重庆大学学报2024，Vol.47Issue(8)：90-102,13.DOI:10.11835/j.issn.1000-582X.2023.260
张拉整体机器人杆件后屈曲驱动行走数值仿真
Numerical simulation of walking for a tensegrity robot driven by the post-buckling of flexible rods
摘要
Abstract
Compared with traditional wheeled and footed robots,spherical tensegrity robots offer advantages such as a high strength-to-mass ratio,excellent cushioning performance,and superior terrain adaptability,making them highly promising for deep space exploration. While cable-driven modes are commonly used for tensegrity robots,the excessive number of actuators requires for walking complicates manufacturing and control. This study proposes a novel driving mode based on the post-buckling deformation of flexible rods. Numerical simulations of the walking process of a spherical tensegrity robot are conducted,and the efficiencies of cable-driven and rod-post-buckling-driven modes are compared. The exact solution for the post-buckling deformation of a single rod is obtained using the elliptic integral method. Based on this,a rigid-flexible coupling dynamics simulation model of the spherical tensegrity robot is established in ADAMS,with considering the post-buckling deformation of the rods,as well as contact and friction. The walking gait of the spherical tensegrity robot is determined through joint simulation using ADAMS and Simulink software,employing a greedy search algorithm. A control system model is established in Simulink to facilitate the robot's walking control to any target points under the rod-post-buckling-driven mode. Compared to the conventional cable-driven mode,the post-buckling-driven mode reduces the number of actuators required for continuous robot walking from 18 to 6 and increases the walking speed by 43.78％. The results provide theoretical guidance for the design and manufacture of new tensegrity robots.关键词
球形张拉整体机器人/后屈曲驱动/贪心搜索/驱动效率/行走控制/SimulinkKey words
spherical tensegrity robot/post-buckling driven/greedy search/drive efficiency/walking control/Simulink分类
数理科学引用本文复制引用
张幸,蹇开林,张亮,贺子刚..张拉整体机器人杆件后屈曲驱动行走数值仿真[J].重庆大学学报,2024,47(8):90-102,13.基金项目
深空探测省部共建协同创新中心开放课题(SKTC202107).Supported by the Opening Foundation of the Deep Space Exploration Collaborative Innovation Center(SKTC202107). （SKTC202107）
