Analysis On Load Movement And Obstacle Avoidance Of Tensegrity Six-bar Spherical Robot

With the continuous progress of science and technology,the research on astral detector is deepening.In recent years,tensegrity structures have been applied to the study of astral detectors.Among the many tensegrity robots,tensegrity six-bar spherical robot has the most outstanding advantages as a star detector.It has many degrees of freedom,good deformation and movement effect,and large internal carrying space.It can change the space volume taken up by itself through deformation,which is convenient for rocket carrying.Based on the rod-driven tensegrity six-bar spherical robot,this paper analyzes and studies its internal load space variation law,load movement and obstacle avoidance path planning under different landing conditions.Based on the tensegrity six-bar spherical robot structure,the model is modeled and transformed into different landing states by coordinate transformation.The undeformed robot structure is analyzed,and the relationship between the initial undeformed internal space and the space volume occupied by the robot and the structure parameters of the robot is calculated.According to the deformation characteristics of the robot,the calculation method of its internal space is defined.ABAQUS is used to conduct a static analysis on the robot to study the influence of gravity on its internal space when the robot is in different landing states.Combined with ADAMS and MATLAB,the variation rule of the internal space volume of the robot is analyzed when the robot is driven by different driving modes under different landing states.After knowing the variation rule of the internal space,the influence of different weight loads on the deformation movement of the robot was studied.According to the structural characteristics of tensegrity six-bar spherical robot,the load connection mode is determined.In ADAMS,the simulation model under the load of a six-bar spherical robot is established to analyze the influence of different weight loads on different driving modes of the robot when the robot is in different landing states.Based on the characteristics of the robot's gait in the roll off movement,the energy consumption and the roll off velocity of the loaded robot are analyzed to provide a basis for the rational choice of the driving mode.Then the obstacle avoidance path planning is studied and analyzed.First,based on the gait characteristics of tensegrity six-bar spherical robot,the obstacle fitting rules are set up.The path unit is studied and analyzed,and the obstacle avoidance rules are set up.This paper analyzes the judgment method of whether the robot meets obstacles when it reaches the target point,studies and analyzes the judgment rules of obstacles,and provides the premise for the path planning of robot avoiding obstacles.Based on the obstacle judgment rule,the path unit is optimized and the obstacle avoidance path unit is obtained.According to different initial landing states,obstacle avoidance path planning is analyzed and studied to provide the basis for the robot to detour around obstacles more efficiently.MATLAB software,preparation of obstacle avoidance path planning program.The simulation environment is established in ADAMS,which is driven according to the obstacle avoidance path planning scheme,and the accuracy of the obstacle avoidance path planning principle is verified.