机器人2025，Vol.47Issue(5)：636-645,707,11.DOI:10.13973/j.cnki.robot.240188
六杆张拉整体翻滚机器人驱动优化设计
Propelling Optimization Design of Six-strut Tensegrity Rolling Robot
摘要
Abstract
To mitigate the propelling cost of the six-strut tensegrity robot(TR-6),a BAGA(beetle antennae-genetic algo-rithm)hybrid optimization policy based on cable actuation is proposed.Firstly,the robot equivalent model is established via its initial geometrical configuration.A propelling optimization model is formulated,with the discrepancy of strain energy before and after actuation during each step as the objective function,which comprehensively considers constraints such as gravity moment,rolling energy,and cable regulation.Non-rigid-body motion analysis(NRMA)method is then employed to determine the robot posture in unbalanced status.The optimal robot propelling strategies are obtained utilizing BAGA,which are verified through ADAMS(automatic dynamic analysis of mechanical system)simulations.Finally,the effectiveness and practicality of the proposed method are confirmed through physical prototype testing of TR-6 with motor actuators.The results imply that the proposed method can effectively minimize the propelling cost of tensegrity rolling robots(single-cable scheme saves about 14％in strain energy compared to double-cable scheme),and provide a theoretical basis and technical support for the research of such robots.关键词
张拉整体机器人/优化策略/驱动成本/遗传天牛须混合优化Key words
tensegrity robot/optimization policy/propelling cost/BAGA(beetle antennae-genetic algorithm)hybrid opti-mization引用本文复制引用
冯晓东,宋思远,赵树彬,崔文华,方益明..六杆张拉整体翻滚机器人驱动优化设计[J].机器人,2025,47(5):636-645,707,11.基金项目
国家自然科学基金(52478189) （52478189）
浙江省"尖兵"研发攻关计划(2024C03038). （2024C03038）
