There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight reduction. This paper proposes a new robotic mechanism based on tensegrity ('tension-integrity') robots and reconfigurable modular robots. The specific actuation schemes for this tensegrity robot with multiple degrees of freedom are presented. This article describes an easy-to-assemble 350 mm tensegrity based robot prototype by stacking a series of rigid struts linked with tensegrity joints that have no direct rigid contact with each other. The functionality of the proposed robot is validated by the experimental results by integrating the polyhedral parallel structure as its skeleton and series of tensegrity joints. The proposed manipulator is capable of reaching bending angles up to 76 degrees. An adaptive cable driven underactuated robotic gripper is designed and attached to the tensegrity manipulator for grasping objects in different shapes, weights, and sizes.
翻译:在时态机器人领域,研究兴趣激增。 在这种范式下开发的机器人在结构合规性、灵敏性、安全性和减重性方面有许多优势,并具有显著特征。 本文提出一个新的机器人机制, 其基础是时态( 增强性- 融合性) 机器人和可重新配置的模块式机器人。 展示了这个具有多种自由度的时态机器人的具体诱导方案。 文章描述了一个容易到组装的350毫米时态机器人原型, 其形式是堆叠一系列与不直接相互僵硬接触的时态联合相连的僵硬结构。 拟议机器人的功能通过实验结果得到验证, 将多面平行结构作为其骨架和一系列紧张性联合体。 提议的操纵器能够达到76度的弯曲角度。 由电缆驱动的适应性低活性机器人控制器被设计并附在时, 用于以不同形状、 重量 和 大小 的时态操纵器。