Movable robot based on tensegrity structure

Abstract

The invention aims at providing a movable robot based on a tensegrity structure. The movable robot comprises six linear motors and 24 elastic cables. The six linear motors are divided into three groups, every two linear motors are arranged in one group to be arranged in parallel, three planes are formed, and three planes intersect at one point in the manner that the three planes are perpendicular to one another in pairs. The two ends of each linear motor are fixedly provided with connecting mechanisms. The corresponding four elastic cables are connected to the position of the connecting point position of each connecting mechanism, wherein the connecting point is connected with four joints nearest to the connecting position except for the linear motor parallel to the linear motor where the connecting point is located, and an icosahedron with each face in the shape of an equilateral triangle is formed. The movable robot is simple in structure, small in mass and high in strength, needed driving force is small, in addition, operation is simple, energy consumption is greatly reduced, and energy conservation and environment friendliness are achieved. Thus, the tensegrity robot can be used in hostile environments and especially on the surface of a bumpy road and can be used in the field of outdoor detection or outer space task executing or the like.

Description

technical field [0001] The invention relates to a mobile robot. Background technique [0002] The tensegrity structure has gone through the following stages from initial conception to engineering practice: imagination and geometry, topology and image analysis, and mechanical analysis, in which mechanical analysis includes form-finding, self-stress criterion, working mechanism and external forces. performance etc. In recent years, in the field of robotics research, the tensegrity robot based on the tensegrity structure has become a frontier topic. The most domestic research on the tensioner structure is applied to the construction of bridges and roofs and the expandable space. Antennas, and research on robots has not officially started. The research on tensegrity robots abroad is still in its infancy. How to deeply understand the movement of tensegrity robots, and realize the motion control of tensegrity robots, and then make them enter the application field is what we are ...

AI Technical Summary

Problems solved by technology

The robot is driven by twenty-four cables, and the movement of the cables is driven by cylinders. Such a tensioned overall mobile robot has a large number of cables, cumbersome operation, difficult control, poor flexibility, high energy consumption, and low moving efficiency.

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