A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments
Yeshmukhametov A. Koganezawa K.
April 2023MDPI
Robotics
2023#12Issue 2
Tensegrity robots offer several advantageous features, such as being hyper-redundant, lightweight, shock-resistant, and incorporating wire-driven structures. Despite these benefits, tensegrity structures are also recognized for their complexity, which presents a challenge when addressing the kinematics and dynamics of tensegrity robots. Therefore, this research paper proposes a new kinematic/kinetic formulation for tensegrity structures that differs from the classical matrix differential equation framework. The main contribution of this research paper is a new formulation, based on vector differential equations, which can be advantageous when it is convenient to use a smaller number of state variables. The limitation of the proposed kinematics and kinetic formulation is that it is only applicable for tensegrity robots with prismatic structures. Moreover, this research paper presents experimentally validated results of the proposed mathematical formulation for a six-bar tensegrity robot. Furthermore, this paper offers an empirical explanation of the calibration features required for successful experiments with tensegrity robots.
prismatic tensegrity , robot kinematics and kinetics , simulation , tensegrity structure , wire-driven actuation
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School of Engineering and Digital Sciences, Nazarbayev University, Astana, 010000, Kazakhstan
Department of Mechanical Engineering, Tokai University, Hiratsuka, 259-1207, Japan
School of Engineering and Digital Sciences
Department of Mechanical Engineering
10 лет помогаем публиковать статьи Международный издатель
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