The Analysis Of Ball-like Tensegrity Robot

Tensegrity structure is a kind of special tensioning truss structure that is composed of compressive bar and tension cable, the component of the structure only carry axial load. This structure has become a research hotspot in the field of sculpture, architecture, aviation, etc. At present, the study of tensegrity robot is in progress. It’s type many and has vast purposes. The study of the tensegrity robot is mainly concentrated in ball-like tensegrity robot. This article will take with the ball-like tensegrity robot as the research object, and the tensegrity robot which has the interior space will be studied.Tensegrity structure is the structure subject of the ball-like tensegrity robot. Starting with the configuration of tensegrity structure, the mathematical model of the structure will be established, and the relationship between the parameters and the position of the nodes, the node vector matrix and relationship of nodes and components will be determined. On the basis of connection matrix and member matrix of the ball-like tensegrity structure, the relationship between the overall dimension and the interior space will be discussed.For the problems of ball-like tensegrity structure stability, the force balance equation of structure will be established in accordance with the mathematical model of tensegrity structure. The mobility of mechanisms and state of self-stress will be obtained by the balance matrix and the structure’s classification will be determined. The decision on the criteria for stability of tensegrity structure in deformation statewill get from fish-swarm algorithm. At the same time, the force situation optimization of the components will be established.The selection of the ball-like tensegrity robot driving method is analyzed. Compared with existing driving methods of the tensegrity robot, two kinds of driving schemes suitable for the structural characteristics of tensegrity structure are proposed. And the final driving scheme will be obtained by the further simulation analysis for the driving scheme and comparing the drive efficiency of the two kinds of driving schemes.Shock resistance of the ball-like tensegrity robot is analyzed. Two kinds of test modes are proposed with the reference to the experimental method of the landing test of the external star detector, one of which has the same height and the different numbers of landing place while the other has the same height and the different jump foot type. The wallop to tensegrity structure which touchs the groundin different situations will be obtained by the simulation analysis with the two kinds of the test modes. The absorption rate is calculated and shock resistance of tensegrity structure is checked according to the simulation data of the rigid truss obtained with the same test mode.The problem of the moving ball-like tensegrity robot is analyzed. The driving method and the movement route are studied using the parallel mode which is composed by practical tests and simulation. The preliminary structure properties of tensegrity structure are set in the simulation analysis. Design code for drive and control method and study the locomotive gait of the ball-like tensegrity robot, Motion scheme and the movement route of the ball-like tensegrity robot are obtained. Put up the practicality model of the ball-like tensegrity robot in the practical test. And the control operation is carried out according to the simulation results.Motion scheme and control scheme are checked. Adjusts the motion scheme by comparing the movement of the ball-like tensegrity robot in two kinds situations and the finalcontrol mode is achieved.