Kinematic performance of novel tensegrity pipeline robot

被引：0
|
作者：
Lu J. [1 ]
Xu Z. [1 ]
Liu J. [1 ]
机构：
[1] School of Civil Engineering, Southeast University, Nanjing
来源：
Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) | 2023年 / 53卷 / 03期
关键词：
dynamic simulation; longitudinal wave method gait; parameter analysis; performance study; star tensegrity;
D O I：
10.3969/j.issn.1001-0505.2023.03.002
中图分类号：
学科分类号：
摘要：
To solve the problem of large mass and volume of traditional pipeline robots, a novel tensegrity pipeline robot was designed with three-bar star tensegrity as the basic unit, and its moving gait was longitudinal wave method gait. In order to verify the feasibility of the novel tensegrity pipeline robot, the dynamics simulation model of the five-unit robot was established, and the kinematic performance of the robot under different model parameters and working conditions was studied. The results show that the robot can not only move forward in a square long straight pipe according to the longitudinal wave method gait, but also improve the forward distance by increasing the prestress, static friction coefficient and driving length, and by reducing the kinetic friction coefficient and driving time. However, excessive adjustment may lead to excessive energy input and instability. Although the robot cannot move forward when the inclination angle of the pipeline is greater than 20°, it can still maintain good forward performance under the three different working conditions of unit damage, uniform load or moving forward in the tube. © 2023 Southeast University. All rights reserved.
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页码：386 / 394
页数：8
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