Deformation And Motion Analysis Of Six-bar Tensegrity Robot

The tensegrity structure is composed of the compressed bar units and the tensioned cable units.There is no moment action between the bar units,the self-balance is maintained by the internal force of the units in the structure.Due to the characteristics of light weight,multiple degrees of freedom,excellent expandability,strong shock resistance,the research on tensegrity structures is constantly deepening,its application has been developed from the original art and architectural fields to the current exploration,disaster relief and other fields.Tensegrity robot is a hot topic in the current research.The six-bar tensegrity robot is taken as the research object in this paper,the main contents of the research includes component parameters,structural deformation analysis,rolling motion simulation of the robot,motion characteristics,physical prototyping experiments,and the movement route planning.The specific contents are as follows:1.Based on the mathematical model of the six-bar tensegrity structure,the relationship between the length of bar and cable components in the structure under static equilibrium,and the relationship between the force density of the bar and cable components are analyzed,through it the simulation and physical model are constructed.After the theoretical derivation,the deformation analysis theory of the six-bar tensegrity structure is obtained when the length of the bar components is changed,and the feasibility of the structural motion is verified by the MATLAB software.2.The existing driving mode of the tensegrity robot is analyzed,bar driven is chosen as the six-bar tensegrity robot's driving mode in this paper.The simulation model of the tensegrity robot is established in the ADAMS software,for the two kinds of state in contact with ground,the motion simulation including single bar and two bars telescoping is carried out to obtain the motion mode that can realize the rolling motion of the robot.3.Considering the motion speed,motion smoothness and energy consumption of the robot,a more suitable motion mode for the six-bar tensegrity robot is chosen by comparative analysis of the obtained rolling motion modes.Setting the target points,continuous motion simulation of the robot towards the target point is carried out to analyze the characteristics of the robot motion and the rolling direction selection rule when moving to the target.4.Select the appropriate devices to build a bar driven tensegrity robot which can realize wireless control and continuous motion.The single roll motion mode and continuous motion that obtained by the simulation are verified by experiments.Finally,the characteristics of the six-bar tensegrity robot are analyzed,the motion control of the robot to the long distance target is simplified,and the motion scheme of the robot to any point in the plane is analyzed.