61 results about "Tensegrity" patented technology

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 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 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 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.

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.

The present invention discloses a rolling motion method, system and equipment for a tensegrity robot based on closed-loop control, belonging to the field of robot motion technology. The method includes selecting a rolling axis and a driving point based on the minimum direction principle according to the target point position of the tensegrity robot's rolling; planning the motion trajectory of the tensegrity robot's rolling angle and rolling radius according to the rolling axis and driving point, and calculating the expected trajectory of the center of mass motion based on the planned motion trajectory of the tensegrity robot's rolling angle and rolling radius; using the tensegrity robot dynamics model that considers contact and collision conditions, tracking the expected trajectory of the tensegrity robot's center of mass motion, and obtaining the expected instructions for the center of mass motion. The present invention solves the problems of large structural deformation of the tensegrity robot, limited motion performance and low rolling efficiency during rolling, and realizes precise control of the tensegrity robot's rolling speed.

The present invention discloses a multimodal motion robot based on a tensegrity structure and a control method thereof. The robot comprises a control module and a peristaltic module, a rolling module, and a flight module electrically connected to the control module. The peristaltic module is a tensegrity structure composed of 15 tension springs and 6 interconnected drive rods, including a central drive rod with a flight module disposed at its midpoint. The flight module is a quadrotor structure. The rolling module comprises a motor and a circular wheel mounted on each end of the central drive rod. The control module is used to control the extension and retraction of each drive rod in the peristaltic module, the operation of the quadrotor in the flight module, and the rotation of the circular wheel in the rolling module. The robot structure proposed by the present invention can realize three motion modes: peristaltic, rolling, and flight. The robot has strong maneuverability and environmental adaptability.

A vehicle constructed using tensegrity principles in the design of the structural member of a skin-on- frame assembly, being composed of non-contiguous compressive elements and complementary tensile elements whose opposing forces result in a lightweight, stress dispersing and self-organizing geometry at equilibrium. The modularity of the compressive and tensile elements, the propulsion methods and the directional controls allows for conversion between land- and water-borne modes of conveyance, as well as simple folding and disassembly of the vehicle for storage and transportation.

The application discloses a kind of metamaterial cell structures based on four-pole tension integral, belong to mechanical metamaterial field.The structure includes X-shaped main support frame, folding assembly and elastic component.X-shaped main support frame includes two rigid main support rod members arranged in cross, folding assembly is connected to X-shaped main support frame upper side and lower side, and elastic component is arranged on the left and right sides of X-shaped main support frame.Under the action of external force, two rigid main support rod members can rotate relatively, upper folding assembly and lower folding assembly are folded or unfolded in sequence, elastic component occurs expansion and contraction deformation and applies tension restoring force, so that the structure realizes cooperative deformation and recoverable motion.The application combines tension integral structure with mechanical metamaterial cell design, and can be used for recoverable deformation structure, buffer energy-absorbing structure and tension integral metamaterial cell structure design.

This invention relates to an auxiliary tool, design method, and application for rapidly assembling a tensioned monolithic structure, comprising the following steps: determining the three-dimensional spatial position of the compression members in the tensioned monolithic structure; determining the center position of the member as the connection point of the auxiliary tool; using a connector as the central connection point among all connection points, connecting the central connection point to the other connection points; and setting clamping components at the other connection points. This invention provides a rapidly assembling tool adapted for specific tensioned monolithic structures, fully considering the issues of rapid installation and disassembly of connection points and the stress stability of various parts, resulting in a construction method that conforms to mechanical design principles and meets user habits.

The application discloses a deformable wheel-foot structure based on a tensegrity structure, a robot and a working method, and relates to the technical field of robots, and comprises a structural basic unit, a plurality of structural basic units are sequentially connected in series through elastic ropes to form a semi-ring-shaped tensegrity structure, one end of two semi-ring-shaped tensegrity structures is connected through a driving mechanism, and the other end is connected through a fitting interface, thereby forming a ring-shaped tensegrity structure, the driving mechanism is used for driving the stretching and contraction of the elastic ropes on the ring-shaped tensegrity structure, so that the deformation is realized through the opening and closing of the fitting interface. Through the switching between the wheel mode and the leg-foot mode, the robot has the rapid moving ability of a wheeled robot and the obstacle-crossing ability of a leg-foot robot, and further forms multiple motion modes.

The invention discloses a tensegrity structure autonomous state cognition system in a difficult-to-reach area, the system comprises a state reconstruction module and a man-machine interaction module, the state reconstruction module detects resistance change data of a cable in a tensegrity structure in real time based on a flexible sensor, predicts the real-time state of the structure by using a long-short-term memory network, and obtains the real-time state of the structure; reconstructing a three-dimensional shape and a mechanical behavior of the structure; the man-machine interaction module carries out word segmentation on the text and converts the text into a vector space with context perception so as to capture a semantic interdependence relationship, and a fine tuning data set is established through an aggregation sensor and image features; a pre-trained LLM model is obtained by combining parallel input of text prompt and time sequence coding, and training is carried out based on a fine tuning data set; in the reasoning process, the model uses reconstruction errors as abnormal scores for calculation, the anomalies are distinguished according to statistical distribution of the scores and a frequency threshold value of a specific field, and the anomalies are divided into sensor interference, sensor damage and rod deformation.

The application provides a tensegrity mechanical arm, which comprises n control ropes, a plurality of joints and connecting pieces between adjacent joints; the plurality of joints are arranged in a row; each joint comprises a base ring and a conical top column; the base ring is uniformly provided with n rope penetrating holes, and the inner edge of the base ring is provided with three inner connecting holes; the front end of the conical top column is provided with a front connecting hole, and the rear end of the conical top column is provided with a rear connecting hole; the side wall of the conical top column is provided with three outer connecting holes; three inclined rods are arranged between the base ring and the conical top column, and the two ends of the inclined rods are connected with the base ring and the conical top column respectively; the connecting piece comprises three circumferential springs and a central spring; the two ends of the circumferential spring are connected with the inner connecting hole of a previous joint and the outer connecting hole of a next joint respectively; the two ends of the central spring are connected with the rear connecting hole of the previous joint and the front connecting hole of the next joint respectively; each control rope penetrates through corresponding rope penetrating holes of all the joints; and the rear end of each control rope is connected with a driving mechanism. The application also provides an octopus robot.

Tensegrity device (100) suitable as a play, throwing, training or therapy device, comprising a frame (10) made up of at least three rods (11, 11a) and elastic tension elements (15), wherein the rods (11, 11a) of the frame (10) are spaced apart from one another and are connected to one another by the tension elements (15), wherein the frame (10) is stabilized by tensile forces of the tension elements (15) acting on the rods (11, 11a), wherein the rods (11, 11a) have free ends (13) directed towards an outside (14), characterized in that an elastic element (16, 16a, 16b, 16c) is arranged at several of the free ends (13) of the rods (11, 11a), that the elastic elements (16, 16a, 16b, 16c) shock-absorbing elements are such that each elastic element (16, 16a, 16b, 16c) comprises an elastomer or consists of an elastomer, that each elastic element (16, 16a, 16b,16c) is designed to widen conically towards the outside (14) of the tensegrity device, and that each elastic element (16, 16a, 16b, 16c) has an end surface (17) directed towards the outside (14), wherein the end surface (17) is concave.

The invention discloses a class-k type tensegrity robot shape finding method based on spinor, belongs to the field of statics analysis and rigid-flexible hybrid robots, and aims to solve the problems that a class-k type tensegrity robot shape finding process is complex, node coincidence constraint is difficult to maintain, and numerical calculation stability is difficult to maintain. The method comprises the following steps: initializing structural parameters; constructing a system pseudo-kinetic equation based on the speed spinor and the force spinor; establishing a node coincidence constraint matrix according to the topological relation, and deducing a multi-level constraint equation of positions, speeds and acceleration levels; and the angular velocity and the linear velocity of each rigid rod piece at the current moment are obtained by solving the augmented velocity spinor. And further updating the node coordinates of the rigid rod piece according to the speed spinor to realize iterative form-finding calculation. And when the free space spinor is smaller than a preset threshold value, the structure reaches a balanced configuration, and shape finding is completed.

This invention discloses a negative Poisson's ratio metamaterial cellular structure based on a two-rod, two-cable tensioned structure. The structure comprises two T-shaped rods, a sliding compression elastic component, and a tension elastic component. The two T-shaped rods are symmetrically arranged; the middle portions of the two T-shaped rods are slidingly connected by the sliding compression elastic component; and the corresponding sides of the two T-shaped rods are connected by the tension elastic component. This invention utilizes the lightweight, self-stabilizing, adaptive, and stiffness-adjustable characteristics of the tensegrity structure, combined with the metamaterial cellular structure, to enhance stiffness and self-stability, thereby improving mechanical properties.

The present invention relates to a tensegrity bistable flexible gripper with adjustable clamping performance, comprising a base, a driving module, a tensegrity bistable mechanism and a pair of flexible clamping claws; the driving module comprises an electric push rod and two servos, the tensegrity bistable mechanism comprises a trigger rod, a pair of triangular clamping plates, a pair of floating plates and three groups of springs, the components are hinged, the first two groups of springs are respectively connected to the nodes of the components, and the lower end of the third group of springs is connected to the servo by a pull rope passing around the node on the base, and the gripping performance, including the gripping force and anti-collision ability of the gripper, is adjusted by rotating the servo; when the trigger rod moves inward due to external collision and reaches the trigger state, the gripper closes quickly to complete the gripping process; the electric push rod is pushed out to drive the trigger rod forward to complete the gripper opening process, and the trigger rod moves backward to actively close the gripper; the electric push rod is retracted and retracted in the gripper open state to adjust the potential energy barrier and anti-interference ability required for triggering, and to perform selective gripping.