An Approach to the Estimation of the Actuation Parameters for Mobile Tensegrity Robots with Tilting Movement Sequences
- This paper deals with the locomotion by tilting sequences of shape-variable compliant tensegrity structures. The shape of these structures is controlled by manipulating their prestress state. The tensegrity structure is tilting as consequence of a suitable variation of its shape. By multiple repetition of such tilting sequences a motion is generated. Quasi-static considerations for the considered structures are presented in order to estimate the actuation parameters. For a proper number of actuators this quasi-static approach enables an analytical calculation of the actuation parameters of the structure in order to control the geometrical configuration as required. As an example a two-dimensional tensegrity structure which is in contact with a horizontal plane due to gravity is considered. By successive tilting sequences a uniaxial motion results. The excitation of the structure is calculated for a given change of shape with the quasi-static analysis. The according results are compared with transient dynamic simulations. Qualitative conclusions about the motion behavior and the usability of the quasi-static approach are given.
Author: | Valter BöhmGND, Philipp Schorr, Klaus Zimmermann, Lena ZentnerORCiD |
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DOI: | https://doi.org/10.1109/REMAR.2018.8449871 |
Parent Title (English): | 2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR); 20-22 June 2018; Delft, Netherlands |
Publisher: | IEEE |
Document Type: | conference proceeding (article) |
Language: | English |
Year of first Publication: | 2018 |
Release Date: | 2022/06/08 |
Tag: | mobile robots; motion control; robot dynamics; structural engineering |
First Page: | 1 |
Last Page: | 8 |
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 |