Design and experimental research of deformable mobile robot based on tensegrity structure

doi:10.3785/j.issn.1006-754X.2024.04.121

Chinese Journal of Engineering Design

2024, Vol. 31

Issue (4): 438-445 DOI: 10.3785/j.issn.1006-754X.2024.04.121

Robotic and Mechanism Design

Design and experimental research of deformable mobile robot based on tensegrity structure

Hao ZHANG¹(

),Qi YANG¹,Binbin LIAN¹(

),Tao SUN^1,²

^1.School of Mechanical Engineering, Tianjin University, Tianjin 300000, China
^2.International Institute for Innovative Design and Manufacturing of Tianjin University in Zhejiang, Shaoxing 311800, China

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Abstract

Mobile robots can replace people into dangerous environments such as fire and earthquake sites for terrain exploration and casualty search, but most robots are difficult to adapt to obstacles, right-angle walls, wall transitions and other complex terrain at the same time, and their control systems are relatively complex, requiring external energy input. Therefore, a deformable mobile robot with multiple functions, relatively simple control and no tethering was designed. Firstly, taking the 2-bar 4-cable tensioning integral structure as the basic unit, the body of the tensioning integral structure which could realize bending deformation was designed. Secondly, based on the analysis of adsorption force and structural parameters, the negative pressure adsorption device was designed and combined with the deformable body to form the overall structure of the robot. Then, the kinematic analysis of the robot was carried out, and the mapping relationship between the robot pose and the motor angle was obtained. Based on this, the robot's gaits of wall surface transition, traversing the narrow space from the wall surface and flipping up steps were planned. Finally, the robot prototype was developed, and the robot movement experiments were carried out according to different terrain, and the rationality of the robot gait planning was verified. The research results provide a certain reference value for the design and manufacture of multi-functional mobile robots.

Key words： tensegrity structure negative pressure adsorption deformable robot

Received: 15 March 2024 Published: 26 August 2024

CLC:

TH 122

Corresponding Authors: Binbin LIAN E-mail: 1056801740@qq.com;lianbinbin@tju.edu.cn

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Cite this article:

Hao ZHANG,Qi YANG,Binbin LIAN,Tao SUN. Design and experimental research of deformable mobile robot based on tensegrity structure. Chinese Journal of Engineering Design, 2024, 31(4): 438-445.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.04.121 OR https://www.zjujournals.com/gcsjxb/Y2024/V31/I4/438

基于张拉整体结构的可变形移动机器人的设计与实验研究

移动机器人可以代替人进入火灾、地震现场等高危环境进行地形探索及伤员搜寻等工作，然而大多数机器人难以同时适应障碍、直角墙壁、墙面过渡等多种复杂地形，且其控制系统相对复杂，需要外部能源输入。为此，设计了一款具有多种功能、控制相对简单且无系留的可变形移动机器人。首先，将二杆四索张拉整体结构作为基本单元，设计了可实现弯曲变形的张拉整体结构躯干；其次，基于吸附力及结构参数的分析，设计了负压吸附装置，并将它与可变形躯干结合，形成了机器人整体结构；接着，对机器人进行运动学分析，获得了机器人位姿与电机转角的映射关系，并据此规划了机器人墙面过渡、从墙面穿越狭小空间及翻转上台阶的步态；最后，完成了机器人样机的研制，并针对不同地形开展了机器人运动实验，验证了机器人步态规划的合理性。研究结果为多功能移动机器人的设计与制造提供了一定的参考价值。

关键词： 张拉整体结构, 负压吸附, 可变形机器人

Fig.1 Design schematic of robot deformable body

Fig.2 Force analysis of limit pose of robot on wall surface

Fig.3 Structure of negative pressure adsorption device

Fig.4 Composition of generator set

Fig.5 Overall structure of deformable mobile robot

Table 1 Motor model and parameters

Fig.6 Simplified configuration of deformable mobile robot

Fig.7 Simplified unit of deformable mobile robot

Fig.8 Gait sequence of robot climbing from horizontal ground to vertical wall surface

参数	步态a	步态d	步态f
a₁与b₁的关系	$a 1 > b 1$	$a 1 < b 1$	$a 1 < b 1$
m₁	1	0	1
m₂	0	1	1
n₁	0	0	1
n₂	0	1	1
θ₅	$π / 4$	$π / 8$	$π / 4$

Table 2 Parameters corresponding to different gaits of robot during climbing

Fig.9 Gait sequence of robot traversing narrow space from vertical wall surface

Table 3 Parameters corresponding to different gaits of robot during traversing

Fig.10 Gait sequence of robot flipping up steps from horizontal ground

参数	步态a	步态c	步态e
a₁与b₁的关系	$a 1 > b 1$	$a 1 < b 1$	$a 1 > b 1$
m₁	1	0	0
m₂	0	1	0
n₁	0	0	1
n₂	0	0	1
θ₅	$π / 4$	$δ$ ^①	$π / 4$

Table 4 Parameters corresponding to different gaits of robot during flipping

Fig.11 Experiment of robot climbing from horizontal ground to vertical wall surface

Fig.12 Experiment of robot traversing narrow space from vertical wall surface

Fig.13 Experiment of robot flipping up steps from horizontal ground


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