TWrist:An agile compliant 3-DoF tensegrity joint  

作　　者：Tianyuan Wang Mark A.Post Andy M.Tyrrell 

机构地区：[1]School of Physics,Engineering and Technology,University of York,York YO105DD,United Kingdom

出　　处：《Biomimetic Intelligence & Robotics》2024年第3期34-46,共13页仿生智能与机器人（英文）

摘　　要：Tensegrity structures,with their unique physical characteristics,hold substantial potential in the field of robotics.However,the very structures that will give tensegrity robots potential advantages over traditional robots also hold long term challenges.Due to the inherent high redundancy of tensegrity structures and the employment of tension elements,tensegrity robots exhibit excellent stability,compliance,and flexibility,although this also results in lower structural deformation efficiency.Existing research has endeavoured to enhance the motion performance of tensegrity robots,exploring diverse approaches such as actuation schemes,structure design,aligned with control algorithms.However,the physical constraints of the elements in such structures and the absence of suitable controllers impede further advancements in the usefulness of tensegrity robots.This paper presents a novel design based on an under constrained transition region design and a tailored control approach based on inverse kinematics,improving the motion performance of the proposed novel tensegrity joint.Through this approach,the tensegrity joint,while preserving the advantages of compliance and flexibility expected from tensegrity structures,offers three degrees of rotational freedom,mirroring the controllability of conventional rigid-body joints.The results demonstrate the capability of tensegritybased robotic joints to provide flexible actuation under situations demanding high compliance.The integration of structure design with a tailored control approach offers a pioneering model for future development of tensegrity robots,underscoring the practical viability of tensegrity structures in the realm of robotics.

关 键 词：TENSEGRITY Soft robot Tensegrity control Robot manipulator 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]