Session: MR-08-02 Novel Mechanisms, Robots, and Applications

Paper Number: 71292

Start Time: August 17, 03:20 PM

71292 - The Kinematic and Static Analysis of the Dual Drive Fusiform Tensegrity Robot 

Since the concept of tensegrity was proposed by Fuller in the 1960s, a large number of scholars have done a lot of fruitful basic theoretical research on form-finding , statics , dynamics , which provides the possibility for the potential application of tensegrity structure. Furthermore, there have been many successful applications in the field of architecture , and tensegrity structures have gradually shown many attractive advantages in robotics in recent years, such as light weight, favourable stiffness and high shock resistance .In recent decades, researchers have successfully applied tensegrity in wilderness exploration, aerospace and biomimicry etc., 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 quadruped 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. and meanwhile the workspace of the other end of the struct is calculated numerically. Finally, the theoretical analysis is verified by simulation, and the dual drive fusiform tensegrity robot module is proved to be feasible as one foot of a mobile quadruped robot

Presenting Author: Shibo Liu Tianjin University

Authors:

Shibo Liu Tianjin University
Jiangping Mei Tianjin University
Panfeng Wang Tianjin University
Fan Guo Tianjin University