98 results about "Tensegrity" patented technology

The invention relates to a triangular rotating rigid body structure with compression and torsion characteristics, and belongs to the field of mechanical metamaterials, the triangular rotating rigid body structure comprises two kinds of tension cell element structures, and each cell element structure comprises a three-rod tension integral structure assembly and a degree-of-freedom constraint assembly. Under the action of a three-rod nine-cable tension integral structure, when the structure is not subjected to external load, the structure is subjected to interaction of internal stress, and the balance is achieved in a self-stabilization state; under the state of external load, the upper surface and the lower surface of the cell element structure can generate a torsion effect, and the structure can recover to the initial state after the external load is removed again. The triangular rotating rigid body structure with the compression torsion characteristic has the advantages of self-adaptability, self-recovery, indentation resistance characteristic and the like. The tensegrity structure and the mechanical metamaterial structure are combined, the types of existing mechanical metamaterial cell element structures are enriched, and a brand new direction is opened up for design, analysis and application of the tensegrity mechanical metamaterial structure.

The invention relates to a negative Poisson's ratio metamaterial cell element structure based on a three-rod tension structure, which belongs to the field of mechanical metamaterials and comprises a three-rod tension integral structure component and a degree-of-freedom constraint component. Under the action of a three-rod nine-cable tension integral structure, when the structure is not subjected to external load, the structure is subjected to interaction of internal stress, and the balance is achieved in a self-stabilization state; and under the state of external load, the upper surface and the lower surface can generate a torsion effect, and the structure can recover to the initial state after the external load is removed again. The negative Poisson's ratio metamaterial cell element structure based on the three-rod tension structure has the advantages of self-adaptability, self-recovery, compression-torsion characteristic and the like. The tensegrity structure and the mechanical metamaterial structure are combined, the types of existing mechanical metamaterial cell element structures are enriched, and a brand new direction is opened up for design, analysis and application of the tensegrity mechanical metamaterial structure.

The invention relates to a negative Poisson's ratio metamaterial cell element structure based on a four-rod tension structure, which belongs to the field of mechanical metamaterials and comprises a four-rod tension integral structure component and a degree-of-freedom constraint component. Under the action of a four-rod twelve-cable tensioning integral structure, when the structure is not subjected to external load, the structure is balanced in a self-stabilizing state under the interaction of internal stress; and under the state of external load, the upper surface and the lower surface can generate a torsion effect, and the structure can recover to the initial state after the external load is removed again. The negative Poisson's ratio metamaterial cell element structure based on the four-rod tension structure has the advantages of self-adaptability, self-recovery, compression-torsion characteristic and the like. The tensegrity structure and the mechanical metamaterial structure are combined, the types of existing mechanical metamaterial cell element structures are enriched, and a brand new direction is opened up for design, analysis and application of the tensegrity mechanical metamaterial structure.

A continuum manipulator that comprises an assembly of ‘vertebra’-like modules fabricated using two curved links and twelve strings and actuated using Motor-Tendon Actuators. The modules being modeled as tensegrity structures having a polyhedron shape. The vertices and edges of the tensegrity structure polyhedron correspond to the holes and strings or links of the structure. Furthermore, a mobile continuum manipulator that includes a control unit and wheels or mobile legs.

The invention relates to a multistable mechanical metamaterial structure with a tension characteristic, which belongs to the field of mechanical metamaterials and mainly comprises a multistable mechanical metamaterial cell structure, and the multistable mechanical metamaterial cell structure comprises a tension integral structure component, a degree-of-freedom constraint component and a connecting component. Under the action of a tensioning integral structure, when the structure is not subjected to external load, the structure is subjected to interaction of internal stress, and the balance is achieved in a self-stabilization state; according to the multistable mechanical metamaterial cell element structure with the tension characteristic, the structure of the position where each side of the square outline is located has two steady-state configurations, and the cell element structures are connected through a rectangular array to form the multistable mechanical metamaterial structure with the tension characteristic. The tensegrity structure and the mechanical metamaterial structure are combined, the types of existing mechanical metamaterial cell element structures are enriched, and a brand new direction is opened up for design, analysis and application of the tensegrity mechanical metamaterial structure.

The invention relates to a square rotating rigid body structure with compression and torsion characteristics, and belongs to the field of mechanical metamaterials, the square rotating rigid body structure comprises two tensioning cell element structures, and each cell element structure comprises a four-rod tensioning integral structure assembly and a degree-of-freedom constraint assembly. Under the action of a four-rod twelve-cable tensioning integral structure, when the structure is not subjected to external load, the structure is balanced in a self-stabilizing state under the interaction of internal stress; under the state of external load, the upper surface and the lower surface of the cell element structure can generate a torsion effect, and the structure can recover to the initial state after the external load is removed again. The square rotating rigid body structure with the compression torsion characteristic has the advantages of self-adaptability, self-recovery, indentation resistance characteristic and the like. The tensegrity structure and the mechanical metamaterial structure are combined, the types of existing mechanical metamaterial cell element structures are enriched, and a brand new direction is opened up for design, analysis and application of the tensegrity mechanical metamaterial structure.

The invention provides a quasi-zero stiffness vibration damping device based on a tensegrity, which comprises a first tensegrity vibration damping device, a second tensegrity vibration damping device and a cam group buffer device, and utilizes the nonlinear quasi-zero stiffness characteristics of the self-balance, low dynamic stiffness and high static stiffness characteristics of the tensegrity structure. Through cooperative work of the first tensioning overall vibration reduction device and the second tensioning overall vibration reduction device, longitudinal stress is converted into deformation of an elastic element of a quasi-zero-stiffness mechanism, and therefore vibration reduction is effectively achieved. According to the damping device, the whole tensioning structure and the cam set structure are combined, the damping work is achieved through the combination of the damping performance of the quasi-zero stiffness structure and the damping performance of the tensioning mechanism, the device is high in impact resistance and remarkable in self-balancing and self-stabilizing performance, vibration can be effectively reduced, and the safety of the damping device is improved.

The invention relates to the field of tensegrity metamaterials, in particular to an internal stress self-loading two-rod two-cable tensegrity metamaterial cell element structure which comprises a rigid shell component, a T-shaped rod piece, an elastic assembly and a hydrogel driving assembly. The T-shaped rod piece is driven by the hydrogel to slide in the channel direction of the shell component, and finally self-balancing is achieved under the joint constraint of the tension elastic assembly and the tension elastic assembly. The self-stabilization, self-recovery and self-adaption mechanical characteristics of the tensegrity structure are utilized, the overall stability and durability of a traditional structure are improved, and the limitation of local stress concentration and single-point faults is overcome. A method for generating preloading stress according to the swelling characteristic of the hydrogel is provided, the limitation that external loading is needed for the whole conventional tensioning is broken through, and the breakthrough from passive bearing to active response is achieved. The method is suitable for various fields of intelligent materials, flexible sensors, deformable structures, underwater detection equipment and the like.

The invention discloses a bionic wrist joint based on rope driving, and belongs to the technical field of bionic robots. The joint mainly comprises a movable part, a driving part and a tendon-imitating rope group. The movable part is composed of a far-end column carpal bone imitating component, a near-end column carpal bone imitating component and a forearm bone imitating component, two two-rod four-cable tensegrity units are formed through ligament imitating elastic bodies to be connected, and a carpal groove imitating dislocation preventing structure is formed at the connecting position of the components. The driving part comprises a driving wheel set driven by a motor. The two tendon-imitating ropes are guided by the pulleys and the tendon-imitating sheath eyebolts, penetrate through the gaps of the components and then are fixed to the far end of the movable part. The degree of freedom is effectively restrained through the carpal-groove-imitating dislocation-preventing structure, dislocation is prevented, the stability is improved, and the double-degree-of-freedom bionic movement of 180-degree buckling / stretching and 90-degree adduction / abduction is achieved in combination with rope driving. The device has the advantages of being simple in structure, high in self-recovery performance and the like, and is suitable for robot operation scenes needing high flexibility and environment adaptability.

The invention discloses a continuum robot based on a six-rod tensegrity structure and a control method of the continuum robot in the technical field of robots, the continuum robot comprises a plurality of unit bodies, connecting pieces and a driving device, the plurality of unit bodies are sequentially connected through the connecting pieces to form a continuum, each unit body comprises a telescopic mechanism, a transmission mechanism and a pair of fixing plates, the telescopic mechanism is installed between the pair of fixing plates, each telescopic mechanism is of a six-rod tensioning integral structure composed of six rod pieces and twenty-four elastic ropes, and the telescopic mechanisms of every two adjacent unit bodies are connected through a connecting piece. The continuum robot provided by the invention has relatively high motion capability and motion flexibility, and can avoid obstacles during advancing.

According to the upper limb forearm and wrist rehabilitation mechanism based on the double-layer four-rod tensioning structure, the overall tensioning structure is combined with the mechanism design, and the rigid-flexible mixed characteristic of the overall tensioning structure composed of the four-rod flexible stretching unit and the four-rod rigid compression unit is utilized; the problems that a traditional rehabilitation mechanism is too complex, a driving device is huge, and equipment light weight is insufficient are solved. A wrist support seat in the wrist rehabilitation mechanism is connected with an upper fixing ring in the forearm tensioning integral mechanism through a bolt. Compared with the prior art, the invention has the following technical effects: the rigid-flexible mixed characteristic of the tensegrity structure is utilized to meet the requirements of motion of each degree of freedom, meanwhile, the structure of the exoskeleton is simplified, the lightweight design is realized, and the torsion angle can be increased and the flexibility can be improved through the mutual compensation of the internal length in the motion process. And the overall height of the mechanism can be kept unchanged.

The present invention provides a submarine pipeline cleaning robot based on a tensegrity structure and a method of use. The robot is composed of a cleaning device, a cleaning body, a tensegrity connection structure and a tensegrity main body structure. The tensegrity connection structure sequentially connects the tensegrity main body structure and the cleaning body, and then the cleaning device is installed at the front end of the cleaning body. The tensegrity connection structure adopts a fish spine-like design, which not only retains the stability characteristics of the tensegrity structure, but also increases the flexibility of the structure, allowing the robot to complete six degrees of freedom such as swinging and twisting. The present invention adopts a tensegrity structure, and by splicing different numbers of tensegrity main structures, it can perform cleaning work in pipelines of various shapes and sizes. The present invention has a simple and efficient structure, can greatly reduce the cost of submarine pipeline cleaning, and solves the problem of secondary blockage caused by easy failure of pipeline cleaning devices.

The present invention provides a tensegrity joint comprising: a first inner structure having a first frame and a first strut extending orthogonally from the first frame; a second inner structure having a second frame and a second strut extending orthogonally from the second frame; at least three actuation tendons, each being fixed at a respective hole at the first frame and being guided and allowed to slide through a respective hole at the second frame; a central tendon connecting an apex of the first strut and an apex of the second strut such that the central tendon is in balance with the pulling forces exerted by the at least three actuation tendons; and an outer elastic protection sheath configured to wrap on a cylindrical surface between the first and second inner structures.

The application provides a kind of based on the tension whole wrist exoskeleton of cable drive, including battery pack and drive unit, first support exoskeleton is adapted to patient's forearm by wearing;Second support exoskeleton is adapted to patient's palm by wearing;Flexion and extension tensioning piece and ulnar and radial tensioning piece are sequentially threaded through first support exoskeleton and second support exoskeleton, when flexion part extends from first direction to flexion and extension drive part, extension part extends along second direction opposite to first direction, when ulnar deviation part extends from third direction to ulnar and radial drive part, radial deviation part extends along fourth direction opposite to third direction, flexion part, extension part, ulnar deviation part and radial deviation part are respectively matched with first support exoskeleton and second support exoskeleton to provide at least four direction degrees of freedom of wrist joint movement.The application can realize that patient wears conveniently and provides multiple degrees of freedom for wrist joint movement, and then improves the treatment effect of patient rehabilitation training.

A three-dimensional structure spacecraft having a tensegrity structure appropriately controls a vibration even when the three-dimensional structure spacecraft is subjected to air resistance, solar wind disturbance, or the like, lands a satellite or a planet, and performs work or the like. The three-dimensional structure spacecraft includes a plurality of compression members and a plurality of tension members. Three or more of the tension members are connected to each of ends of the compression members. A three-dimensional structure formed by the compression members and the tension members is maintained by tension of the tension members. A variable damping force damper is disposed in at least either the compression members or the tension members. The variable damping force damper is configured to generate a predetermined force in a longitudinal direction of the compression members or in a longitudinal direction of the tension members.

The present invention discloses a method and device for generating movement control signals for a tensegrity robot, belonging to the field of robot control technology. The method comprises: selecting a portion of the cables of the tensegrity robot as active cables and the remaining portion as passive cables; inputting the initial values ​​of the gait variables of the active cables into an optimization algorithm for iteration to obtain updated values ​​of the gait variables of the active cables, and then inputting the updated values ​​of the gait variables of the active cables into the optimization algorithm for repeated iteration until a specified number of iterations is reached; fine-tuning and optimizing the gait variables through multiple rounds of iteration; calculating the active cable update control signals and their evaluation parameters corresponding to the updated values ​​of the gait variables of the active cables in each round of iteration to determine the active cable target control signals; the gait variables determined in this way and the corresponding active cable target control signals are used to control the active cables and drive the passive cables to perform gait movements, thereby accurately controlling the rapid walking movement of the tensegrity robot.

This invention provides a tensioned monolithic system formed by a one-dimensional array of polyhedral tensioned monolithic modules. The system includes several module units, a back tie, a front tie, and a lower tie. These module units are arranged in a one-dimensional series to form the tensioned monolithic system. Each module unit is either a 6-bar, 24-30-cable tensioned monolithic module formed by discrete icosahedrons or a 5-bar, 20-24-cable novel tensioned monolithic module formed by discrete tetrahedrons. Each tensioned monolithic module consists of longitudinal horizontal pressure bars, transverse horizontal pressure bars, and vertical pressure bars connected sequentially to the ends of the pressure bars by cables. Seven types of 6-bar, 24-30-cable icosahedral novel tensioned monolithic modules and five types of 5-bar, 20-24-cable tetrahedral novel tensioned monolithic modules are used, and these polyhedral tensioned monolithic modules are arranged in a one-dimensional array to form a continuous architectural functional space for passage or residence of personnel and vehicles. The modules can be arranged with equal or unequal heights and widths to create a staggered, natural architectural form. Ties or rods are added between the modules to form a unified whole.

The invention discloses a tensegrity structure wheeled robot with an anisotropic function. The tensegrity structure wheeled robot comprises a bearing workpiece, a middle vertical plate, a driving wheel mechanism and an auxiliary wheel mechanism. The two bearing workpieces are respectively arranged on a headstock and a tailstock; the middle vertical plates are rotationally connected with the adjacent bearing workpieces, and every two adjacent middle vertical plates are rotationally connected, so that the wheeled robot with the tensegrity structure forms a structure that multiple sections of vehicle bodies can swing in the running process, and tension springs are connected among the multiple sections of vehicle bodies of the wheeled robot with the tensegrity structure; the driving wheel mechanism is used for driving the wheeled robot with the tensegrity structure to run; the auxiliary wheel mechanism is arranged at the bottom of the middle vertical plate and is of a structure capable of elastically moving back and forth in the rotating axial direction. According to the scheme, sufficient rigidity is achieved in the longitudinal direction for bearing effective loads, sufficient flexibility is achieved in the transverse direction for turning, the robot can adapt to the complex and changeable working environment, and the advantages of being high in environment robustness, high in quality efficiency and the like are achieved.

The application provides a ring-shaped tensegrity structure, which has n tensegrity units in series connection, wherein n is an even number, and each tensegrity unit comprises three compression struts, and any two end points of the three compression struts are connected with a cable; the tensegrity unit has two bottom surfaces, i.e., an upper bottom surface and a lower bottom surface, which are formed by the same side end points of the three compression struts and are perpendicular to the central axis of the ring-shaped tensegrity structure; the structure of the tensegrity unit is determined by determining the coordinates of the six end points of the three compression struts, and the tensegrity unit satisfies the following structure requirements: the orthographic projection of the upper bottom surface and the lower bottom surface are equilateral triangles, the upper bottom surface and the lower bottom surface are not parallel and do not intersect and have an included angle β; the upper bottom surfaces or the lower bottom surfaces of adjacent tensegrity units coincide with each other, and the adjacent tensegrity units are arranged in mirror image symmetry with respect to the coincident surface. The structure of the application is reasonable in stress and has better stability.

The invention provides a tensegrity inspired buffer mechanical metamaterial structure, which relates to the technical field of buffer materials and comprises an upper-layer buckling structure, an upper-layer connecting structure, a lower-layer connecting structure and a lower-layer buckling structure, the upper-layer buckling structure and the lower-layer buckling structure are correspondingly arranged in the vertical direction and cover the outer side of the upper-layer connecting structure and the outer side of the lower-layer connecting structure correspondingly. The upper-layer buckling structure and the upper-layer connecting structure are both circumferential array structures and respectively comprise buckling units and connecting units which are in one-to-one correspondence in number; each buckling unit comprises a supporting framework, a deformation main body, a supporting seat and a connecting interface; each connecting unit comprises a connecting part and a coupling part used for being matched with the buckling unit; the inner connecting bulge of the buckling unit and the coupling part of the connecting unit form embedded coupling connection; the upper-layer outer connecting protrusions of the upper-layer buckling structure and the corresponding outer connecting protrusions of the lower-layer buckling structure are directly and fixedly connected at the central plane of the metamaterial.

The invention introduces a novel method for constructing tensegrity structures using unique connection members equipped with multiple receiving sockets and anchoring components, streamlining the assembly process. This design emphasizes secure junctions, versatile configurations, tool-free assembly and disassembly, and varying prestress of tensile spans, especially in irregular tensegrity forms.

The present invention provides an assembled dome structure composed of annular tensegrity modules. This system is constructed by assembling an N-sided annular tensegrity structure in a circle packing grid pattern similar to that of a sphere. The assembled dome structure is completely self-balancing. Compared to traditional cable domes, the self-balancing dome structure of the present invention does not require a rigid ring beam and can be constructed using an assembled construction method. This significantly speeds up construction and reduces costs, while also providing greater overall structural robustness. Therefore, this structural form has significant application prospects.

A method for determining the equilibrium state of a tensegrity structure includes: determining the critical bending moment that the tensegrity structure bears; calculating the tension of longitudinal tie rods; calculating the pressure of longitudinal compression members; calculating the tensile lengths and the unstressed lengths of the longitudinal tie rods; calculating the compressed lengths and the unstressed lengths of the longitudinal compression members; calculating the forces and the radial deformations of annular compression members; and calculating the positioning lengths and the manufacturing lengths of the longitudinal tie rods and the longitudinal compression members.

The invention belongs to the technical field of folding control of flexible deformable structures and tensegrity robots, and particularly relates to a form intelligence method and device for folding control of a six-rod tensegrity robot. The method specifically comprises the steps that folding of the six-rod stretch-draw integrated robot is regarded as gathering of end points, the direction of each set of parallel rods in the folded state is marked through the positions of the parallel rods, when the two end points on the same side of each set of parallel rods are in the same cluster, the two end points are marked as positive, and otherwise, the two end points are marked as negative; four folding modes are used for determining the folding condition of the whole six-rod tensioning device; obtaining each rope length target according to the four folding modes, and further obtaining an active driving shortened rope set according to the relativity of motion; redundant ropes in the active driving shortened rope set are removed through graph theory loop analysis, and a driving rope set of each folding mode is obtained; and a corresponding driving rope set is selected according to the needed target folding mode, and driving of the six-rod stretch-draw whole robot is completed.

The application provides a kind of tension integral driving robot, belongs to robot technical field;Including carrying module, carrying module at least installs a pair of tension structure, each tension structure is connected with foot, each pair of tension structure has a common articulation point on carrying module, tension structure includes pressure piece and tension piece, pressure piece includes the first pressure piece and the second pressure piece that intersect to present X shape, the both ends of first pressure piece are first articulation point and fourth articulation point respectively, the both ends of second pressure piece are second articulation point and third articulation point respectively;First articulation point and third articulation point, third articulation point and fourth articulation point and fourth articulation point and second articulation point are all connected with tension piece;Friction force that foot is subjected to in different directions is different when advancing;The application controls the distance between feet, utilizes the front and rear different direction friction force formed by foot and ground to advance, and can realize multiple gaits, simple structure, light quality, good impact resistance and high material utilization.

The invention discloses a tension type foldable dynamic environment adaptation device based on a microfluidic film, and belongs to the field of dynamic regulation and foldable structures. The device comprises a microfluidic film and a tensegrity structure, the tensegrity structure comprises a plurality of nodes, a plurality of tension elastic units and a plurality of compression rod units, the nodes are mounted at two ends of each compression rod unit, and the nodes are interwoven and connected through the tension elastic units to jointly form a rigid-flexible foldable telescopic framework structure. The micro-fluidic film is connected to a part of nodes of the foldable telescopic skeleton structure and covers a closed hollow area formed by the other part of nodes. The invention aims to solve the problems of large weight, complex disassembly and assembly, single form and insufficient impact resistance of the existing expandable support structure, can flexibly adjust the scale and coverage area of the device according to the needs of actual application scenes, and shows wide application prospects.

The invention provides a tensegrity module dynamic behavior analysis method based on an energy-preserving matrix perturbation method, which is different from an existing modeling method aiming at a tensegrity structure that a rope and a rod piece are simulated into a rod without considering bending rigidity or both the rope and the rod piece are regarded as beams. The string units are adopted to model the rope, and the actual vibration condition of the structure can be reflected. Taking a three-rod tensegrity structure module unit as an example, firstly, dynamic stiffness matrixes with prestress are established for ropes and rod pieces in the structure respectively; solving the established dynamic stiffness matrix by adopting a W-W algorithm to obtain a structure frequency; and finally, structural response is obtained and verified under the condition of existing frequency, and verification results show that the method has good calculation efficiency on the premise of ensuring accuracy.

The application discloses a wearable foot type structure based on a self-locking tensegrity structure, which comprises a supporting structure, a treading plate, a tensegrity structure and a locking structure, wherein the supporting structure comprises a top plate and a bottom plate below the top plate; the top plate and the bottom plate are rotationally connected through a rotating structure; the treading plate is installed above the rear side of the top plate through an elastic component; the top plate and the bottom plate are flexibly connected through the tensegrity structure; the locking structure comprises four ratchets, four pawls and a first guide wheel, the four ratchets are installed on the rear side of the top plate through rotating shafts respectively; the four pawls are fixed at the bottom of the treading plate respectively and correspond to the four ratchets respectively; the first guide wheel is installed on the front side of the top plate through a rotating shaft; the two ratchets which are symmetrically distributed are transmissionally connected through a first transmission rope, the ratchet located on the front side is connected with the bottom plate through a second transmission rope around the first guide wheel, and the remaining three ratchets are connected with the bottom plate through third transmission ropes respectively. The application has the characteristics of flexibility and stability.

The present invention belongs to the field of robots, and provides a crawling-jumping tensegrity robot and its working method. Among them, the crawling module adopts a tensegrity configuration composed of multiple elastic elements and multiple rigid compression bars. The rigid compression bars include a rigid compression bar assembly located on the central axis of the structure for driving the jumping motion, and multiple rigid compression bar assemblies that are telescopically movable and evenly distributed around the central axis in an inclined manner; by adjusting the lengths of the driving compression bars according to certain rules, the center of gravity of the tensegrity configuration can be changed so as to generate a crawling motion; the jumping module is mainly composed of multiple highly elastic elements that can be bent under pressure and a jumping driving mechanism. Under the action of the driving mechanism, the elastic elements are bent and deformed to store elastic potential energy, and the stored elastic potential energy is released instantaneously. The robot is bounced up by the force between the elastic elements and the ground, thereby realizing the jumping motion.

The objective is to provide a game device that incorporates a tensegrity structure and allows the conditions for state changes to be freely altered for each game. [Solution] The game device 1 comprises a first opposing part 50 positioned toward the base part 10 at the tip of the first arm part 30, a second opposing part 60 positioned toward the movable part 20 at the tip of the second arm part and attracting the first opposing part 50, and a plurality of deformable connecting parts 70 that are stretched between the base part 10 and the movable part 20. The first opposing part 50 and the second opposing part 60 are positioned within the range surrounded by the plurality of connecting parts 70 when viewed from above. The tension caused by the attraction between the first opposing part 50 and the second opposing part 60 applies tension to the plurality of connecting parts 70, forming a tensegrity structure that maintains the positional relationship between the base part 10 and the movable part. The device further comprises a tension adjustment part 80 that adjusts the tension caused by the attraction between the first opposing part 50 and the second opposing part 60.