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Kinematic analysis of the rolling locomotion of mobile robots based on tensegrity structures with spatially curved compressed components

  • In this work, a tensegrity structure with spatially curved members is applied as rolling locomotion system. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the locomotion system a reliable actuation strategy is required. Therefore, the kinematics of the system considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the locomotion behavior a feasible actuation strategy is designed to control the trajectory of the system. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this system enables a two-dimensional rolling locomotion. The use of mechanically compliant tensegrity structures in mobile robots is an attractive research topic, due to the possibility to adjust their mechanical properties reversibly during locomotion. In this paper rolling locomotion of mobile robots based on simple tensegrity structures, consisting of three compressed spatially curved members connected to a continuous net of prestressed tensional members, is discussed. Planar locomotion of these robots is induced by the movement of internal masses. The movement direction can be changed by changing the robot's shape between a cylinder and a truncated cone. The paper focuses on the description of the kinematics of these systems with respect to the shape change.

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Metadaten
Author:Enrique Roberto Carrillo Li, Philipp Schorr, Tobias Kaufhold, Jorge Antonio Rodríguez Hernández, Lena ZentnerORCiD, Klaus Zimmermann, Valter BöhmGND
URL / DOI:http://212.191.87.54:1616/k16/awrejcewicz/publikacje/T2.pdf
ISBN:978-83-66287-30-3
Parent Title (English):Applicable Solutions in Non-Linear Dynamical Systems; 15th International Conference "Dynamical Systems - Theory and Applications" (DSTA 2019, 2-5 December, 2019, Lodz, Poland
Publisher:Wydawnictwo Politechniki Łódzkiej
Place of publication:Łódź, Polen
Editor:Jan Awrejcewicz, Markek Kaźmierczak, Paweł Olejnik
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2019
Release Date:2022/03/15
Tag:Inverse kinematics; Nonholonomic mechanics; Tensegrity structure
First Page:335
Last Page:344
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Energie und Mobilität
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG