30-rod spherical tension whole movable structure

A technique of tensioning the whole structure and tensioning the whole, applied in the direction of special structures, building components, etc., to achieve the effect of improving the stability of movement, ensuring self-plasticity and stability, and improving the flexibility of path selection

Active Publication Date: 2020-07-10
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, tension integral movable structures with 3 compression bars, 4 compression bars, 6 compression bars ...

Method used

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  • 30-rod spherical tension whole movable structure
  • 30-rod spherical tension whole movable structure
  • 30-rod spherical tension whole movable structure

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Embodiment

[0036] Both the compression rod and the cable of the 30-rod spherical tension integral movable structure described in the present invention can be used as actuators (active components) for driving strategy input, so as to realize the marching motion mode of the structure. In the following specific implementation schemes, the driving of the pressing bar by a driver such as a motor is an example, and there are two types of driver center control scheme and driver distribution control scheme, and the reference length of the pressing bar (the distance between the two ends of the pressing bar in the bar system model) L is selected. b = 206mm. At the same time, on the basis of the main structure, the design of the fixing method of the control system is introduced, and the implementation steps of the structure and the driving strategy of the travel mode driven by the pressure rod are elaborated in detail.

[0037] Such as figure 1 As shown, the 30-rod tensegrity body structure of the ...

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PUM

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Abstract

The invention discloses a 30-rod spherical tension whole movable structure. A main structure is an outer frame in a tensegrity manner, and composed of 30 pressing rods, 90 inhaul cables and 60 hinge joints, each joint is connected with three inhaul cables and one pressing rod, each joint is equivalent, the structure has the good spatial symmetry, after the main structure exerts prestress, self balance can be achieved, stress can be kept free of losing without external force effect, a similarly-spherical polyhedron space is supported, according to the 30-rod spherical tension whole movable structure, through adjusting the length of a pulling and pressing part of the main structure, the opposite position of the ground projection of the whole center mass of the structure and the bottom contact ground can be changed, and the advancing motion of the structure is achieved.

Description

technical field [0001] The invention relates to the field of prestressed cable-strut structures, in particular to a 30-rod spherical tension integral movable structure that realizes the rolling motion of the structure by actively controlling the length of the components. Background technique [0002] The tensegrity structure is a prestressed self-balancing system composed of continuous tension members and discrete compression members. In the past, tensegrity structures were generally used in civil building structures. Various long-span architectural structures such as cable dome structures, suspension dome structures, cable truss structures, and tensioned string structures can be considered as practical derivative forms of tensegrity structures. . In recent years, movable structures based on tensegrity structures have become an emerging topic in the fields of aerospace, machinery, and robotics. At present, tension integral movable structures with 3 compression bars, 4 comp...

Claims

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Application Information

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IPC IPC(8): E04B1/34
CPCE04B1/34
Inventor 许贤姚俊杰罗尧治
Owner ZHEJIANG UNIV
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