Analysis And Research On The Motion Performance Of Spherical Tensegrity Robot

Tensegrity structure has the characteristics of light weight,strong bearing capacity,impact resistance,it is because of these characteristic and research on tensegrity structures deeply,the application of tensegrity structures from sculpture to the building structure to the aerospace field,it can be said that the research of tensegrity structures has been become a hot spot,has aroused widespread concern of many scholars.Based on the spherical tensegrity robot as the research object,the research content mainly includes structure geometry,structure displacement,the stability of the structure,the structure of static and dynamic analysis,motion simulation,prototype debugging and other aspects,the specific contents are as follows:At first,the spherical geometry of tensegrity structures are analyzed in detail,a node matrix structure using the node hierarchy node coordinate parameter representation,using connection matrix is established between nodes and components of the connection matrix.According to the balance between the nodes,determining the relationship between member and bar spacing,and then determine the relationship to determine the length of the rod and cable length,the distance formula between two points respectively push torsion angle and torsion angle between unit derived unit size,realizes spherical geometry of tensegrity structures robot parameters representation method,completed the mathematical modeling of spherical tensegrity structures.The next step is analing the static and dynamic of spherical tensegrity robot.The static equilibrium equation of the spherical tensegrity structure is established,and the static stability of the structure is analyzed by using the method of equilibrium matrix analysis and SVD decomposition.The Lagrange equation of the system is established,which provides a theoretical basis for the dynamic analysis of the robot,and at the same time,it is convenient to solve the motion simulation of the spherical tensegrity robot.The static model of the spherical tensegrity structure is established to ensure the stability of the structure.Then,motion simulation analysis of the robot.The relationship between the external load and the component parameters is analyzed.Establish the simulation model of the robot and set the structure parameters and simulation analysis of the robot,the robot’s movement as a whole step of decomposition,analysis of every step of a moving bar length,spring force changes,the location changes.The last step,design and experiment of the experimental prototype.The design of the prototype includes the selection of spring,the selection of linear motor,the design of controller.Firstly,the robot is debugged and tested.Analysis of the type of robot triangle to test the robot tumbling critical point.The movement gait of the robot is analyzed,based on the simulation results,set the robot drive Sequence Planning of robot walking routes,determination of a movement cycle,walking speed of the whole robot.