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Alternative TitleParameter optimization for rolling motion of structure variable robots
杜汶娟; 马书根; 李斌; 王明辉; 平井慎一
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20164102899208
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61473283)
Keyword驱动参数 材料参数 性能参数 可变结构体机器人
Other AbstractStructure variable Robots are proposed as novel mobile robots based on tensegrity structures. They consist of rigid struts and tensile cables and can generate rolling gaits by self-deformation. Recent designs for tensegrity robots are mostly based on experience, and fixed drive parameters are used in the rolling control. The influence of the diving parameters and material parameters on the performance (such as rollability, energy consumption, and structure reliability) is necessarily but has not been discussed, since the tensegrity structures are highly coupled and the analysis based on the traditional kinetic methods are complex. For obtaining low energy consumption, high rollability and high reliability, the gravitational torque, critical driving length and driving force are used as performance criteria to describe three performances, and then the finite element method is applied to find out the relation between the driving parameters, material parameters and the three performance criteria, and optimal parameters are chosen to obtain better performance. A 6-strut tensegrity robot platform is built and experiments have been taken on this robot to test the validity of the computational results.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author王明辉
Recommended Citation
GB/T 7714
杜汶娟,马书根,李斌,等. 可变结构体机器人滚动步态参数优化[J]. 机械工程学报,2016,52(17):127-136.
APA 杜汶娟,马书根,李斌,王明辉,&平井慎一.(2016).可变结构体机器人滚动步态参数优化.机械工程学报,52(17),127-136.
MLA 杜汶娟,et al."可变结构体机器人滚动步态参数优化".机械工程学报 52.17(2016):127-136.
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