Path Planning Study Of Six-bar Spherical Tensegrity Robot

Robots are of great significance to human at exploration of extraterrestrial planets,and landing buffers are often needed to carry such robots to the land of target planet.The spherical tensegrity robot not only has the function of landing buffer,but also has the function of planet exploration.This kind of robot is still in the emerging stage,and path planning still needs to be studied.Based on the rod-driven six-bar spherical tensegrity robot,this paper mainly studies the path planning,and explores how to make the robot move to the target point in the plane without obstacles.Based on the mathematical modeling and gait analysis of spherical tensegrity structure,this paper provides a basis for the path control of the robot.In this paper,the numbering method of structural nodes is determined,and the structure is expanded to analyze the relationship between the structural parameters of the robot.The open triangle and closed triangle landing states of robots are introduced,and the method of transforming initial modeling into two landing states is obtained by coordinate transformation.The accuracy of the rolling motion of the robot is analyzed,and the relationship between the rod assembly and the corresponding telescopic length is determined.Finally,the rolling motion scheme from the former to the next step of the robot is determined.After determining the rolling motion scheme,the path planning of spherical tensegrity robot is studied,and the form of the robot reaching the target point is defined.This paper introduces the meaning of fixed path in path planning,and proves the relative distance of fixed path.According to the fixed path,the reference of path planning scheme is drawn,and the rule of path naming in reference is given.After that,the path planning of the robot reaching the single target point in two landing states is studied,and the method of selecting the path inside and outside the path reference is determined.The problem of theoretically unreachable area,boundary triangle area and repetitive path is solved,and the Matlab GUI of automatically generating the path map for the given target point is compiled.The corresponding relationship between the path triangle and the structure expansion triangle in the robot path planning scheme is discussed,and the Android control application based on the path planning scheme for the remote control robot is compiled.Based on Bluetooth communication,the application has three functions:independent control of linear motor,fixed path mode motion control and planning path motion control.By giving the same target point and comparing the path planning chart,it is verified that the robot prototype can move to the target point according to the prescribed path.The reasons for the motion deviation of the robot in the prescribed path are analyzed,and the improvement methods are put forward.