Motion analysis of the four-bar tensegrity robot

摘要

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 structure and the selection of the four-bar tensegrity structure are introduced, and the model of structure is established by the node relationship between bars and strings. Then, according to the deformation of the structure, the paper analyses the movement of the center of gravity and the design of gait. Finally, to simulate the deformation and the motion of the structure. It will show the first gait of straight line walking by simulation. To verify the correctness of the theory movement.