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MECHANISM DESIGN AND MOTION CONTROL SYSTEM REALIZATION FOR 6-STRUT TENSEGRITY ROBOTS
Li B(李斌); Du WJ(杜文娟); Wang C(王聪); Liu WY(刘文元); Zhang LQ(张良全)
作者部门机器人学研究室
会议名称15th IASTED International Conference on Intelligent Systems and Control (ISC 2016)
会议日期August 16-18, 2016
会议地点Campinas, Brazil
会议录名称Proceedings of the 15th IASTED International Conference on Intelligent Systems and Control (ISC 2016)
出版者ACTA Press
出版地Calgary, Canada
2016
页码349-353
收录类别EI
EI收录号20171203470356
产权排序1
关键词Mechanism Motion Control System Tensegrity Robots
摘要The 6-strut tensegrity robot(TR-6) consists of 6 discrete rigid struts and 24 continuously elastic cables. The TR-6 can roll, crawl or even jump by self-deformations. As the self-weight impacts the stability and deformability of the TR-6, light-weight mechanism design is required, and most of the existing TR-6 are driven by Pneumatic Muscle Actuators. However, the external air supply and the tubes limit the mobility. Electric prototypes solve the problem above, yet they have to sacrifices the controllability by reducing the number of actuators to lower the self-weight. In this paper, an all actuated electric prototype is designed and three questions in the design of mechanism and motion control system are solved. Firstly, the internal batteries and motors increase the self-weight and requires greater driving torque. Servo motors are used to replace the DC motors for higher torque-weight ratio. Secondly, wireless modules are mounted on the independent struts to communicate between the discrete electric devices. Thirdly, the ratio of the elastic and nonelastic part of the cables and the elastic coefficient of the cables is taken into consideration to guarantee both the deformability and stability.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19534
专题机器人学研究室
通讯作者Li B(李斌)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China
2.University of Chinese Academy of Sciences, Beijing, China
3.College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China
推荐引用方式
GB/T 7714
Li B,Du WJ,Wang C,et al. MECHANISM DESIGN AND MOTION CONTROL SYSTEM REALIZATION FOR 6-STRUT TENSEGRITY ROBOTS[C]. Calgary, Canada:ACTA Press,2016:349-353.
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