The Analysis Of Dynamics And Motion Performance For Mobile Robot Based On Tensegrity Structures

The mobile robot based on tensegrity structures is a new research direction of tensegrity structures, it has the shape and properties which wheeled and legged robots do not have. This paper is on the research of mobile robot based on tensegrity structures. First, the dynamic model is established, and then trajectory planning and the motion performance of robot are analyzed. The main research contents and achievements are as follows:1. The dynamic models during rigid body motion process and contact-impact process are established by using the Lagrange approach and the theory of collision dynamics. Finally, the dynamic model of mobile robot based on tensegrity structures is founded through combining over two models.2. According to the dynamic model and structural characteristics of such robot, cable driven is chosen as the robot's driving mode. By searching for the suitable combination states of driver cable changing quantity, a trajectory planning algorithm based on group selection techniques of cable changing quantity is presented, which can make mobile robot move along preconceived track. And the feasibility of this algorithm is verified through motion examples.3. Based on the dynamic model and trajectory planning algorithm, a software simulation platform is established, which achieves parametric modeling and motion simulation of robot based on tensegrity structures.4. Through the studies of driver configuration, cable elastic coefficient and robot configuration, the influence factors of motion performance is discussed, and the regularity of them are analyzed which provides foundation for design and application of mobile robot based on tensegrity structures.