Dynamic Analysis And Research On Path Planning Of Twelve-Bar Tensegrity Structure

Tensegrity structure is a cable-strut structural system composed of continuous cables and discontinuous struts,which have great potential for intelligence.Tensegrity movable structures are based on tensegrity structure,with novel forms and adjustable shapes,opening up a new direction for the in-depth analysis and research of tensegrity structures in multiple disciplines.Among them,the spherical tensegrity structure have received attention and research from researchers in various fields due to their excellent structural characteristics and kinematic performance.Based on previous research,this paper comprehensively utilizes morphological analysis,matrix analysis,and motion planning theory to further study and explore the related issues of spherical tensegrity structures.Based on the configuration method of Archimedean polyhedron,this paper uses geometric methods to find three types of 12 bar tensegrity structures,named Snub-12 structure,TO-12 structure,and TC-12 structure,respectively,and validated by force density method and dynamic relaxation method.Then,a comparative analysis of the differences and characteristics in structural morphology between the 6 bar tensegrity structure(TR-6)and three types of 12 bar tensegrity structures was conducted,providing a basis for subsequent gait analysis and path planning.Topological expansion of the structure was conducted,and the basic gait of the three structures was defined and analyzed.A simulation model of the movable structure was established in ADAMS simulation software.Through dynamic simulation,the actual rolling gait and feasible gait of the three structures were analyzed.Then,these gaits are independently expanded to form a feasible theoretical path space.The influence of path blind zone on path space in TR-6 and three types of 12 bar tensegrity structures was analyzed and compared.A path planning method based on guidance strategy is proposed,which is divided into two parts: guidance path and gait planning.First,a feasible guidance path is planned using traditional path planning methods,and then combined with the specific gait of the tensioned overall structure,a unique theoretical motion path of the tensioned overall structure is planned.In this paper,the path planning of the tensegrity structure is studied using the improved RRT algorithm(MRRT)as the guiding path algorithm.Aiming at the gait combination of Snub-12 structure,two gait evaluation indicators are designed to optimize the gait selection.Finally,the path planning for TR-6 structure and Snub-12 structure is performed using the method in this paper,and the path is analyzed,the results indicate that the Snub-12 structure has a better motion path.This algorithm provides a new method for solving the path planning problem of multi gait tensioned monolithic structures.The research in this paper has perfected and promoted the development of spherical tensegrity structures,enriched the structural system and motion theory of spherical tensegrity structures,promoted the application of spherical tensegrity structures in cross disciplines and fields,and provided theoretical support for the further research and practical application on movable spherical tensegrity structures.