Configuration Design And Duct Climbing Control Of Tensegrity Deformable Robot

Many duct systems are inaccessible for human,which makes inspection and repair inefficient.Tensegrity robots have the features of small cross-section and mass,which are quite good for air ducts inspection.In order to make tensegrity robot could climb in more complex duct environment,a novel configuration of tensegrity robot was designed and also its deformation motion planning and duct climbing control were studied in this thesis.(1)A new tensegrity robot with more deform-ability was designed.First,the climbing form of tensegrity robot was classified into three typical cases,which are straight line climbing,right-angle turning and duct joint passing;Then,the shortcomings of existing duct tensegrity robot were indicated;So a novel configuration of tensegrity robot with high deform-ability and extensibility was designed to cover the shortages of existing duct climbing tensegrity robot;A simulation of new tensegrity robot deformation was made to verify that this new configuration reached the basic requirements of climbing duct in the three cases discussed before;In addition,a passive robot model was built to give the proof that the new robot configuration designed in this part works well in practice.(2)A motion planning method for robot deform motion in duct was proposed.First the pose and position description method of tensegrity robot was established;And the inverse kinematics problem was solved using a static-equivalent method;A novel motion planning method of the tensegrity duct robot based on the travel path of tetrahedral frame in duct was proposed;Furthermore,a turning deformation simulation of new tensegrity robot was made to show the result that the robot could implement right angle turning deformation.(3)A control model based on finite state machine for duct climbing was established.After analyzing the action of robot climbing in straight,right-angle and joint cases;The state machine model of the robot was built firstly to describe the robot behavior of duct climbing.Then a duct climbing control model was established,based on this state machine model;And the simulation of new tensegrity duct robot for duct climbing in this three cases using NTRT was made to give the verification that the tensegrity duct robot designed in thesis could climb in the three cases using a state machine based control method.