Analyzing the driving method for the ball tensegrity robot

作者：Luo, Ani^*; Liu, Heping; Liu, Yuxuan

来源：IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO), 2016-12-03 To 2016-12-07.

DOI：10.1109/ROBIO.2016.7866634

• Driving method
• Driving motors
• Mathematics model
• Physical model
• Structure characteristic
• Tensegrities

In the tensegrity robots, the ball tensegrity robot attracts most attentions. The method of driving the ball tensegrity robot is analyzed here. At first, the tensegrity ball is described and its mathematics model is set up. According to its structure characteristics, three kinds of the driving methods suitable to it are presented. Then the cable-driving and rod-driving methods are analyzed. The deformation is researched further through simulation to compare the driving methods. According to number of the driving motors, the method for driving rods to make the robot deform and roll is selected. A physical model of the ball tensegrity robot is built. Through experiment of the physical model, the method and steps of driving the robot staying on two touching-ground triangles are researched. A continuous movement of the model is done to verify the correctness of the above analysis. Through research in the paper, a method for driving rods to make the ball tensegrity robot deform and roll is obtained. The method is proved to be feasible through experiment in the paper.

• 出版日期2016
• 单位哈尔滨工程大学