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In the tensegrity robots, the ball tensegrity robot attracts most attentions. The method of driving the ball tensegrity robot is analyzed here. At first, the tensegrity ball is described and its mathematics model is set up. According to its structure characteristics, three kinds of the driving methods suitable to it are presented. Then the cable-driving and rod-driving methods are analyzed. The deformation...
Tensegrity structures have the advantages of lightweight, good elasticity, easy deformation, simple structure, easy control and so on. If it is applied to the field of robotics, it will be a big advantage. As we study, the tensegrity robot can move by Pulling and loosening diagonal strings. This paper introduces the structure and this new motion mode of the four-bar tensegrity robot. Firstly, the...
A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we...
According to working principle of the deploying and retracing mast, this paper presents that the mast needs to be stiffened by a root stiffness mechanism. The double-slider mechanism with a spring is designed as the root stiffness mechanism. Then motion of the root stiffness mechanism is studied to set up vibrating equation of slider 2 based on the Lagrange equation. Displacement and velocity expression...
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