检索结果-内蒙古大学图书馆

SUTBot: A Soft Umbrella-Like tensegrity robot With Elastic Struts for in-Pipe Locomotion

IEEE robotICS AND AUTOMATION LETTERS 2025年第3期10卷 2918-2925页

作者： Liu, Yixiang Zhang, Yunce Dai, Xiaolin Wu, Rui Zhang, Zhenyu Li, Yibin Zhao, Jie Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China Natl Key Lab Multiperch Vehicle Driving Syst Beijing 100081 Peoples R China Jilin Univ Key Lab Bion Engn Minist Educ Changchun 130022 Peoples R China Shandong Univ Engn Res Ctr Intelligent Unmanned Syst Minist Educ Jinan 250061 Peoples R China Ecole Polytech Fed Lausanne Sch Engn CH-1015 Lausanne Switzerland Beijing Inst Technol Natl Key Lab Multiperch Vehicle Driving Syst Beijing 100081 Peoples R China Beijing Inst Technol Sch Mech Engn Beijing 100081 Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China

Compared with traditional in-pipe robots, tensegrity robots have exhibited many advantages such as light-weight, compliant, collapsible, low-cost, and rapidly manufacturable characteristics. However, published tensegrity in-pipe robots still have limited load capacity, because they rely on the stress between obliquely arranged rigid struts and pipe to provide supporting force, and the rigid struts are easy to slide under external loads. In this editor, a soft umbrella-shaped tensegrity robot that use compressed elastic struts to apply stress nearly perpendicular to pipe is proposed to enhance its load capacity. The static and kinematic models guiding the prototyping and controlling of the tensegrity robot are built based on discretization method. To assess the effectiveness of the elastic struts, a prototype is developed and subjected to a series of experiments. The results demonstrate that compared with other tensegrity in-pipe robots, the usage of elastic struts improves the payload-to-weight ratio of the proposed robot by three times, while still maintaining good mobility and adaptability.

关键词： robots Cables Force Kinematics Electronic mail Stress Prototypes Pneumatic systems Friction Actuators Bio-inspired robot tensegrity robot in-pipe crawling robot soft robot application

来源：评论

学校读者我要写书评

暂无评论

Rolling direction prediction of tensegrity robot on the slope based on FEM and GA

引用

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2020年第19期234卷 3846-3858页

作者： Zhao, Kaikai Chang, Jian Li, Bin Du, Wenjuan Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China Chinese Acad Sci Inst Robot & Intelligent Mfg Shenyang Peoples R China Chinese Acad Sci Shenyang Inst Automat Shenyang Peoples R China Chinese Acad Sci Inst Automat Beijing Peoples R China

Six-strut tensegrity robot is a new mobile robot whose outer surface is an icosahedron containing 8 regular triangles and 12 isosceles triangles, and the robot performs rolling locomotion along the edges of the triangle. On the slope, it has lots of poses depending on the slope's angles and positions of robot, which is difficult to control the rolling directions in the real world. This paper proposed a new method based on finite element method and a genetic algorithm to predict the rolling directions of the robot. The balanced forces equations of robot nodes are established using finite element method, which is a constrained optimization problem. The equations are transformed into an unconstrained optimization problem by the thinking of sequential unconstrained minimization technique. Finally, the unconstrained optimization problem is calculated by genetic algorithm, and the relations between the actuators and the rolling directions are obtained through the dot product of gravitational torque and the edge vector of bottom triangle. This method is verified by simulation and experiment results.

关键词： Rolling direction predictions tensegrity robot finite element method optimization genetic algorithm

来源：评论

学校读者我要写书评

暂无评论

Jumping tensegrity robot Based on Torsionally Prestrained SMA Springs

引用

ACS APPLIED MATERIALS & INTERFACES 2019年第43期11卷 40793-40799页

作者： Chung, Yoon Seop Lee, Ji-Hyeong Jang, Jae Hyuck Choi, Hyouk Ryeol Rodrigue, Hugo Sungkyunkwan Univ Sch Mech Engn 2066 Seobu Ro Suwon 16419 South Korea

This paper introduces the addition of torsional prestrain into the manufacturing process of shape memory alloy (SMA) springs to form torsionally prestrained SMA springs. These springs have a better performance at the same power input for the same loads and same coil dimensions as regular SMA springs. A modified thermoconstitutive model was presented that can predict the behavior of the actuator based on the amount of torsional prestrain added into the manufacturing process, and a simple two-state model is used to predict its actuation stroke. These improved actuators were used in the development of a tensegrity robots capable of fast rolling motions and jumping both vertically and horizontally. This robot is capable of rolling at 0.14 BL/s (body length per second) and can jump up to nearly a full body length.

关键词： tensegrity robot shape memory alloy springs smart materials jumping robots soft robotics

来源：评论

学校读者我要写书评

暂无评论

A Small-Scale Untethered tensegrity robot With High Velocity and Multi Locomotion Modes

引用

IEEE robotICS AND AUTOMATION LETTERS 2023年第11期8卷 7503-7510页

作者： Yang, Qi Yu, Ze Liu, Xinyu Lian, Binbin Sun, Tao Tianjin Univ Key Lab Mech Theory & Equipment Design Minist Educ Tianjin 300350 Peoples R China

tensegrity mobile robots are well-appraised for their high stiffness-to-mass ratio and superior structural compliance. However, traditional untethered tensegrity mobile robots usually have low velocity due to the large actuation force required by coupling effects among stiff struts and soft cables. This also leads to the drawback of bulky volume and heavy mass of the robots. In addition, the existing tensegrity mobile robots have very limited locomotion modes, resulting in weak multi-terrain adaptability of the robots. In this letter, we report a small-scale untethered tensegrity robot with high velocity and multi-locomotion modes. Clustered tensegrity structure and modular concept are adopted to design the tensegrity robot, which endows the robot to achieve high velocity multi-locomotion within a small scale (length, 11 cm;width, 9 cm;height, 5.5 cm for each module) and light weight (160 g for each module). In order to analysis kinematic characteristics of different locomotion modes of the robot quantitatively, kinematic modelling is conducted, and driving laws of motors and displacements (and velocities) of the robot can be obtained theoretically. On this basis, a prototype is manufactured, and experimental results show that the robot can achieve a velocity up to 222.1 BL/min, which is the smallest and fastest untethered tensegrity mobile robot reported so far. Meanwhile, our tensegrity robot is demonstrated to achieve five locomotion modes effectively in terms of earthworm-like, inchworm-like, tumbling, rolling and hybrid locomotion, and can be used in multi-terrain environments benefit from the multi-locomotion modes.

关键词： High velocity multi locomotion small scale tensegrity robot

来源：评论

学校读者我要写书评

暂无评论

A Lightweight and Multimotion Crawling tensegrity robot Driven by Twisted Artificial Muscles

引用

AMERICAN JOURNAL OF CLINICAL NUTRITION 2021年第11期69卷 11447-11457页

作者： Zhou, Dong Liu, Yingxiang Tang, Xintian Sun, Jin Deng, Jie Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China

Soft robots made from soft materials show great advantages over rigid robots in environmental adaptability and motion flexibility. However, too soft body makes them lose the load capacity, which limits their applications in locomotion. Although the crawling tensegrity robots with both rigid bars and flexible cables are potential to address this challenge, the existing inchworm friction drive methods are difficult to realize the motion of a single tensegrity unit. Besides, the lack of appropriate soft actuators and robot configuration also blocks the development of the crawling tensegrity robots. This article presents a new inchworm driving method realized by the inclined supporting feet. By using the twisted artificial muscle (TAM) as actuator, the combination of the TAM and the inclined supporting feet endows a single three-bar tensegrity unit with multimotion capacity and anisotropic stiffness characteristics. The designed tensegrity robot not only has high compliance but also displays high stiffness, which endows it with high load capacity. The prototype can carry a load of 150 g (7.5 times of its weight) to achieve straight and turning motions. This article provides a design idea for the crawling tensegrity robot and a theoretical foundation for improving the load capacity of high compliance robots.

关键词： robots Force Service robots Friction Springs Pneumatic systems Bars Crawling robot inchworm driving method multimotion principle tensegrity robot twisted artificial muscle

来源：评论

学校读者我要写书评

暂无评论

Motion Analysis of the Four-bar tensegrity robot 13

Motion Analysis of the Four-bar Tensegrity Robot

引用

IEEE International Conference on Mechatronics and Automation

作者： Liu, Heping Yu, Yue Sun, Penghao Xin, Hao Hao, Xiaodong Tian, Wei Univ Harbin Engn Harbin 150001 Heilongjiang Peoples R China

ISBN: (纸本)9781509023967

tensegrity structures have the advantages of lightweight, good elasticity, easy deformation, simple structure, easy control and so on. If it is applied to the field of robotics, it will be a big advantage. As we study, the tensegrity robot can move by Pulling and loosening diagonal strings. This paper introduces the structure and this new motion mode of the four-bar tensegrity robot. Firstly, the structure and the selection of the four-bar tensegrity structure are introduced, and the model of structure is established by the node relationship between bars and strings. Then, according to the deformation of the structure, the paper analyses the movement of the center of gravity and the design of gait. Finally, to simulate the deformation and the motion of the structure. It will show the first gait of straight line walking by simulation. To verify the correctness of the theory movement.

关键词： tensegrity robot diagonal strings motion

来源：评论

学校读者我要写书评

暂无评论

The Driving of the Six-Bar tensegrity robot

The Driving of the Six-Bar Tensegrity Robot

引用

IEEE International Conference on robotics and Biomimetics (ROBIO)

作者： Luo, Ani Che, Shijun Liu, Heping Harbin Engn Univ Coll Mech & Elect Engn 145-61 Nantong St Harbin 150001 Peoples R China

ISBN: (纸本)9781538637425

Six-bar tensegrity structure has the advantages of low weight, simple driving and strong bearing capacity. Based on the six-bar tensegrity structure, a simulation model of spherical tensegrity robot is established in Adams software. By controlling the bar's length of the simulation robot, the robot motion is realized and the change of the displacement of each node during the motion progress is studied. Finally, a physical model is built. In the physical model, the linear motor is used to instead of the bar component, and all the strings are replaced by springs. The simulation model is validated by this physical model. The results of experiment show that the spherical tensegrity robot can be driven by controlling the length of two bars in contact with the ground.

关键词： tensegrity robot Adams simulation analysis

来源：评论

学校读者我要写书评

暂无评论

Motion Simulation of Six-Bar tensegrity robot Based on Adams 13

Motion Simulation of Six-Bar Tensegrity Robot Based on Adams

引用

IEEE International Conference on Mechatronics and Automation

作者： Luo, Ani Xin, Hao Cao, Pengfei Hao, Xiaodong Yu, Yue Sun, Penghao Tian, Wei Harbin Engn Univ Coll Mech & Elect Engn Harbin Heilongjiang Pr Peoples R China

ISBN: (纸本)9781509023967

tensegrity traced back to the early 20' s, the characteristics of the structure are potentially extensive applications in geometry and mechanics. In 2015 NASA researched out a tensegrity robot called SUPPERBall. This robot has been greatly improved compared to the previous tensigrity robot. However, they just focused on the design of the space structure of tensegrity robots to adapt more space constraints. The SUPPERBall robot uses the strings structure as the driving part, so the driving ability is limited. In this paper, a new tensegrity use the bar structure as the driving element and use the springs instead of string structure to make the whole robot have a good elastic performance and a good buffer in the condition of the impact force. This paper mainly does the following work. Firstly, according to relationship among nodes, connection matrix of the bars and the strings are built and then the mathematics model of tensegrity robot is obtained. Secondly, dynamics simulation of tensegrity robot is established in Adams software to analysis the movement locus of center of gravity and change in length of bars of tensegrity robot. Finally, it is proved that the application possibility of tensegrity theory used in the field of robot.

关键词： Motion simulation tensegrity robot Adams analysis

来源：评论

学校读者我要写书评

暂无评论

THE KINEMATIC AND STATIC ANALYSIS OF THE DUAL DRIVE FUSIFORM tensegrity robot 45

THE KINEMATIC AND STATIC ANALYSIS OF THE DUAL DRIVE FUSIFORM...

引用

ASME International Design Engineering Technical Conferences / 41st Annual Computers and Information in Engineering Conference (IDETC-CIE) / 45th Mechanisms and robotics Conference (MR)

作者： Liu, Shibo Mei, Jiangping Wang, Panfeng Guo, Fan Tianjin Univ Tianjin Peoples R China

ISBN: (纸本)9780791885451

In recent decades, researchers have successfully applied tensegrity robots in wilderness exploration, aerospace and biomimicry, based on the strong adaptability and high stiffness to mass ratio. In this paper, a fusiform tensegrity robot driven by cable and telescopic strut is proposed, which is intended to be used as a foot module of a multi-legged robot. The numerical kinematic and static solution of the dual drive fusiform tensegrity robot is derived using the principle of minimum energy. Then, its force space, which is a set of external forces applied to the robot in a certain equilibrium configuration, is calculated. Next, the workspace of one reference point is derived by calculating an equivalent four bar mechanism. Meanwhile the workspace of the other end of the strut is calculated numerically. Finally, the theoretical analysis is verified by a simulation, and the dual drive fusiform tensegrity robot module is proved to be feasible as one foot of a multi-legged robot.

关键词： tensegrity robot kinematic and static analysis workspace force space simulation

来源：评论

学校读者我要写书评

暂无评论

The Path Planning Method of tensegrity robot Based on A* Algorithm 8

The Path Planning Method of Tensegrity Robot Based on A* Alg...

引用

8th IEEE Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER)

作者： Chang, Jian Li, Bin Liu, Wenyuan Du, Wenjuan Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Liaoning Peoples R China Northeastern Univ Comp & Informat Engn Coll Shenyang 110819 Liaoning Peoples R China Chinese Acad Sci Inst Automat Beijing 110016 Peoples R China

ISBN: (纸本)9781538670576

This paper presents a path planning method for the tensegrity robot with six struts (TR-6). For the most efficient rolling gait of tensegrity mobile robot, the rolling control research is adopted to be layered with path planning to carry out. In the robot rolling control level, the geometric structure characteristics of TR-6 are used fully. Through the rolling behavior of the drive control to realize path planning, strategy layer is called available. At the level of robot path planning, it is not necessary to pay much attention to the driver bottom control problem, so that the path planning algorithm can be simulated and verified. By simulation and experiment, the algorithm we proposed is proved effectively.

关键词： tensegrity robot Path planning A* algorithm

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：