张拉整体机器人杆件后屈曲驱动行走数值仿真OA北大核心CSTPCD
Numerical simulation of walking for a tensegrity robot driven by the post-buckling of flexible rods
球形张拉整体机器人与传统的轮式、足式机器人相比,具有高强度质量比、缓冲性能好、地形适应力强等优点,在深空探测中有着广阔的应用前景.球形张拉整体机器人常采用绳索驱动模式,但在驱动行走过程中,过多的驱动数目给球形张拉整体机器人的制造与控制带来了困难.提出了一种基于柔性杆件后屈曲变形的新型驱动模式,实现了球形张拉整体机器人行走过程的数值仿真,并对绳索驱动和杆件后屈曲驱动模式的效率进行了比较.通过椭圆积分法,求得单根杆件在后屈曲变形中的精确解.基于该理论…查看全部>>
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 bas…查看全部>>
张幸;蹇开林;张亮;贺子刚
重庆大学航空航天学院,重庆 400044重庆大学航空航天学院,重庆 400044重庆大学航空航天学院,重庆 400044重庆大学航空航天学院,重庆 400044
力学
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Simulink
spherical tensegrity robotpost-buckling drivengreedy searchdrive efficiencywalking controlSimulink
《重庆大学学报》 2024 (8)
90-102,13
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).
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