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Comprehensive cost optimal path planning method for rolling polyhedron tensioning whole robot

A technology of optimal path planning and tensegrity, which is applied in the direction of instruments, motor vehicles, non-electric variable control, etc.

Inactive Publication Date: 2020-01-17
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Due to its polyhedral configuration and rolling mode, the tensegrity structure exhibits discreteness in single-step distance and rolling direction during motion, which makes the traditional continuous path planning method unsuitable for rolling polyhedral tensegrity robots.

Method used

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  • Comprehensive cost optimal path planning method for rolling polyhedron tensioning whole robot
  • Comprehensive cost optimal path planning method for rolling polyhedron tensioning whole robot
  • Comprehensive cost optimal path planning method for rolling polyhedron tensioning whole robot

Examples

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Effect test

Embodiment 1

[0034] This example takes a six-rod twenty-four cable tensioning overall robot as an example to explain. More specifically, this example introduces the applicability and reliability of the method through a scenario 1, and the specific situation of the scenario 1 will be introduced later.

[0035] The first step is to determine the possible position and motion path of the robot according to the overall gait and configuration characteristics of the six-bar twenty-four cable tension, and obtain the possible position and path map of the robot.

[0036] The configuration of a six-rod twenty-four cable tensioned whole is as follows figure 2 As shown, it is composed of six compression rods 1 and twenty-four stay cables 2, and its configuration is an icosahedron, and the number of each vertex is marked in figure 2 middle. Expanding the surface of the icosahedron, we can obtain image 3 As shown in the surface expansion diagram, the icosahedron vertex numbers corresponding to the ...

Embodiment 2

[0055] This example takes a six-rod twenty-four cable tensioning overall robot as an example to explain. More specifically, Embodiment 2 specifically introduces the applicability and reliability of the method through three scenarios, scenario 2, scenario 3, and scenario 4. Details of scenarios 2, 3, and 4 will be introduced later.

[0056] The first step is to determine the possible position and motion path of the robot according to the overall gait and configuration characteristics of the six-bar twenty-four cable tension, and obtain the possible position and path map of the robot.

[0057] The configuration of a six-rod twenty-four cable tensioned whole is as follows figure 2 As shown, it is composed of six compression rods 1 and twenty-four stay cables 2, and its configuration is an icosahedron, and the number of each vertex is marked in figure 2 middle. Expanding the surface of the icosahedron, we can obtain image 3 As shown in the surface expansion diagram, the icos...

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Abstract

The invention belongs to the technical field of robot path planning, and discloses a comprehensive cost optimal path planning method for a rolling polyhedron tensioning whole robot, which comprises the steps of predetermining possible positions and movement paths of a robot according to a rolling advancing mode of the robot and polyhedron configuration characteristics, and obtaining a possible position and path diagram of the robot; establishing a path planning model in a directed graph G (V, H) mode according to the possible position and path diagram of the robot and terrain environment characteristics, and determining a starting point and a target point; and obtaining a path with the minimum comprehensive cost by using an algorithm for solving the shortest path between two points in a graph theory. The comprehensive cost optimal path planning method is suitable for a polyhedral-structured tensioning whole robot taking rolling as a traveling mode, comprehensively considers the influence of factors such as distance, terrain and the like on path planning decision, and executes the algorithm for solving the shortest path between two points in the graph theory to obtain the path withthe minimum comprehensive cost, thus the comprehensive cost optimal path planning method of the invention has effectiveness and reliability, and a planning result is still applicable when the robot isin an off-line state.

Description

technical field [0001] The invention relates to the technical field of robot path planning, in particular to a path planning method for a polyhedron configuration tensegrity robot with rolling as the traveling mode. Background technique [0002] The tensegrity is a prestressed self-balancing system composed of tension cables and compression rods. Driven by the driver, it can realize the shape change of the structure while maintaining the self-balance of the system, and then realize the horizontal projection of the center of gravity away from the bottom support. The way the surface rolls. For example, the Chinese invention patent with the notification number CN207809567U discloses a flexible tensegrity robot with six rods and thirty cables, which realizes the rolling motion of the tensegrity robot driven by a linear motor. In fact, due to its excellent motion ability, high system robustness and relatively low manufacturing cost, tensegrity robots can be used in corresponding...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 许贤卢益鹏罗尧治
Owner ZHEJIANG UNIV
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