张拉整体机器人杆件后屈曲驱动行走数值仿真  

Numerical simulation of walking for a tensegrity robot driven by the post-buckling of flexible rods

作　　者：张幸 蹇开林[1] 张亮[1] 贺子刚 ZHANG Xing;JIAN Kailin;ZHANG Liang;HE Zigang(College of Aerospace Engineering,Chongqing University,Chongqing 40044,P.R.China)

机构地区：[1]重庆大学航空航天学院,重庆400044

出　　处：《重庆大学学报》2024年第8期90-102,共13页Journal of Chongqing University

基　　金：深空探测省部共建协同创新中心开放课题(SKTC202107)。

摘　　要：球形张拉整体机器人与传统的轮式、足式机器人相比,具有高强度质量比、缓冲性能好、地形适应力强等优点,在深空探测中有着广阔的应用前景。球形张拉整体机器人常采用绳索驱动模式,但在驱动行走过程中,过多的驱动数目给球形张拉整体机器人的制造与控制带来了困难。提出了一种基于柔性杆件后屈曲变形的新型驱动模式,实现了球形张拉整体机器人行走过程的数值仿真,并对绳索驱动和杆件后屈曲驱动模式的效率进行了比较。通过椭圆积分法,求得单根杆件在后屈曲变形中的精确解。基于该理论在ADAMS中建立考虑杆件后屈曲变形、接触、摩擦的球形张拉整体机器人刚柔耦合动力学仿真模型。通过ADAMS与Simulink软件联合仿真,利用贪心搜索(greedy search)算法,确定了球形张拉整体机器人的基本步态。在Simulink软件中建立控制系统模型,实现了机器人在杆件后屈曲驱动模式下,向任意目标点的行走控制。对比传统绳索驱动,杆件后屈曲驱动模式下,机器人连续行走所需驱动器数目从18个减少到6个,行走速度提高了43.78%。研究结果为新型张拉整体机器人的设计与制造提供了理论指导。Compared with traditional wheeled and footed robots,spherical tensegrity robots offer advantages such as a high strength-to-mass ratio,excellent cushioning performance,and superior terrain adaptability,making them highly promising for deep space exploration.While cable-driven modes are commonly used for tensegrity robots,the excessive number of actuators requires for walking complicates manufacturing and control.This study proposes a novel driving mode based on the post-buckling deformation of flexible rods.Numerical simulations of the walking process of a spherical tensegrity robot are conducted,and the efficiencies of cable-driven and rod-postbuckling-driven modes are compared.The exact solution for the post-buckling deformation of a single rod is obtained using the elliptic integral method.Based on this,a rigid-flexible coupling dynamics simulation model of the spherical tensegrity robot is established in ADAMS,with considering the post-buckling deformation of the rods,as well as contact and friction.The walking gait of the spherical tensegrity robot is determined through joint simulation using ADAMS and Simulink software,employing a greedy search algorithm.A control system model is established in Simulink to facilitate the robot’s walking control to any target points under the rod-post-bucklingdriven mode.Compared to the conventional cable-driven mode,the post-buckling-driven mode reduces the number of actuators required for continuous robot walking from 18 to 6 and increases the walking speed by 43.78%.The results provide theoretical guidance for the design and manufacture of new tensegrity robots.

关 键 词：球形张拉整体机器人 后屈曲驱动 贪心搜索 驱动效率 行走控制 SIMULINK 

分 类 号：O39[理学—工程力学]