Research on dynamic analysis and path planning of twelve-bartensegrity structure
The tensegrity has a broad development prospect in the field of civil engineering and movable structures because of its characteristics different from those of traditional structures.At present,scholars have less research on multi gait or more complex spherical tensegrity,and some traditional path planning methods are not suitable for polyhedral tensegrity structures.Therefore,a twelve-bar tensegrity structure is studied and a path planning method based on guiding strategy is proposed in this paper.Firstly,according to the geometric properties of the snub cube,a reasonable configuration of a twelve-bar spherical tensegrity structure(Snub-12)with multi gaits is found by using the geometric method and verified by the form finding method.The multiple basic gaits of Snub-12 movable robot and the theoretical path space formed by each gait are defined and analyzed,and the characteristics and differences between the two robots are clarified by comparing with the 6-bar spherical tensegrity structure(TR-6)with single gait.The rapidly-exploring random tree algorithm is modified to generate a guide path,and reasonable motion path suitable for different scenes are generated in consideration of the gait combination of Sunb-12.Finally,the feasibility and effectiveness of the proposed method are verified by simulation analysis.The results show that under the same conditions,Snub-12 is better than TR-6 in terms of the blind zone ratio in the path space and the rolling step length of the independent rolling gait,and is proved to be more suitable for long-distance sports.The proposed path planning method based on the guidance strategy provides a method to solve the path planning problem of multi-gait tensegrity structure,which not only enriches the motion theory of spherical tensegrity structure,but also provides theoretical support for the practical application of such spherical tensegrity movable structures.
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