Kinetics Analysis For Four-bar Tensegrity Robot

Robotics has received attention since its birth in the middle of the last century,after entering the 21 st century,there are more and more applications for robots in various industries.Robotics is considered as one of the most important technologies for future development.Because of its own characteristics,the tensegrity structure has a great potential to combine with robots.in some situations that are dangerous to humans,the combination of tensegrity and robots has a very promising application prospect.Based on the research of the original four-bar tensegrity robot,this paper filters the driving schemes,and completes the dynamic model of the four-bar tensegrity robot,and proposes a new driving scheme to control the motion direction,performs simulated analysis,improves physical prototype and completes the experiment.Firstly,a variety of driving solutions for the four-bar tensegrity robot are proposed,which are mainly divided into oblique cable driving,diagonal cable driving,rod driving and rod cable hybrid driving.By analyzing the actual situation,the rod driving and rod cable hybrid driving are eliminated.Then through software simulation,the feasibility and rationality of the remaining drive schemes are discussed,and finally several driving schemes that met the requirements are determined.Secondly,the theoretical analysis of the four-bar tensegrity robot is carried out,and the robot is transformed from the bottom-ground attitude to the lateral ground attitude by coordinate transformation.Then using Lagrange's equation to establish a dynamic model for the four-bar tensegrity robot,the established Lagrangian equation is solved by Matlab programming,and the critical flip condition of the robot when the diagonal cable is driving is obtained.Then simulation software is used to simulate the previously determined driving schemes,and the effects of different driving schemes on the four-bar tensegrity robot was compared.Combining the driving schemes that have been studied,a new driving scheme of the four-bar tensegrity robot is proposed,and four different directional control gaits are summarized through software simulation.Then using the combination of different gaits,the simulation of the movement of the four-bar tensegrity robot to three different target positions is completed.Finally,the experimental prototype of the four-bar tensioned robot was improved and tested.The motors and springs are improved,the control board based on the Arduino development platform is selected as the controller and the control program was written.Then prototype experiments are carried out to make the prototype move to the target position,which verifies the correctness of the theory.