MECHANISM DESIGN AND MOTION CONTROL SYSTEM REALIZATION FOR 6-STRUT TENSEGRITY ROBOTS
文献类型：会议论文
| 作者 | Li B(李斌) ; Du WJ(杜文娟); Wang C(王聪); Liu WY(刘文元); Zhang LQ(张良全)
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| 出版日期 | 2016 |
| 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 |
| 关键词 | Mechanism Motion Control System Tensegrity Robots |
| 页码 | 349-353 |
| 通讯作者 | 李斌 |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 15th IASTED International Conference on Intelligent Systems and Control (ISC 2016)
 |
| 会议录出版者 | ACTA Press |
| 会议录出版地 | Calgary, Canada |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/19534]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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]. 见:15th IASTED International Conference on Intelligent Systems and Control (ISC 2016). Campinas, Brazil. August 16-18, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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