The Analysis Of Motion Performance For Four-Bar Tensegrity Robot

With the development of the science,mobile robot sometimes can solve problems instead of human.Tensegrity robot is a new research area of robot study,and it’s also a new research area of tensegrity structure study.The tensegrity robot has its own advantages which are not possessed in the wheeled mobile robot field,the feature are deforming easily,light weight and good bearing ability.The paper make a in-depth study on the basis of four-bar tensegrity structure,which include establishing structure,kinematic analysis,the change of gait,collision dynamics analysis and the improvement of physical model machine.Specific researches and results are as follows:Firstly,the kinematic analysis of four-bar tensegrity robot is made.Making them contacted by establishing the point matrix,bar matrix,cable matrix and connect matrix.The expression of node velocity is obtained by the singular value decomposition.Then,combining the factor k with the potential energy of the fastest direction of reduction.Come to a new expression of node velocity.Secondly,the gait is reset.The actual location fitted with theory location is analysed.And comparing the two-side drive with one-side drive.The gait deciation in the ground with different friction coefficient are summarized.Then,The deciation of the center of gravity is analysed when it works.Thirdly,The collision dynamics equation of the structure is analysed.The kinetic energy,potential energy,deformation energy when the collision happen are obtained.And then,coming to the dynamics function by these energy equation.Next,the collision equation of rigid body equation is obtained.At last,simulating the motion and collision by the software ADAMS,and the feasibility of the theory is verified.Finally,The physical machine and test are improved.The step motor and the control system are desighed in this part.Selecting the microcontroller and the ULN2003 driver as the hardware system to control the step motor.Then,the software program is writen.The new setting of gait mode of one-side drive is used to carry out the rolling test.It proves the performance of moving is improved.