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| 张拉整体机器人关键技术研究进展 | |
| 引用本文： | 崔祚,何景峰.张拉整体机器人关键技术研究进展[J].科技导报(北京),2022,40(7):84-93. |
| 作者姓名： | 崔祚 何景峰 |
| 作者单位： | 1. 贵州理工学院航天航空工程学院, 贵阳 550003; 2. 哈尔滨工业大学机电工程学院, 哈尔滨 150001 |
| 基金项目： | 国家自然科学基金青年科学基金项目（12002097）；;贵州省科技计划项目（黔科合基础-ZK[2021]一般266）； |
| 摘 要： | 回顾了张拉整体机器人的特点，总结了现阶段张拉整体机器人典型样机的研制进展，从地面移动、空间探测和仿生领域3方面概述了张拉整体机器人的应用情况。从初始构型设计、初始预应力分析及稳定性判断、外荷载作用下型态分析、动力学特性及控制方法等方面，阐述了张拉整体机器人的关键技术；探讨了未来张拉整体机器人有待于进一步深入研究的技术难题。 |
| 关 键 词： | 张拉整体机器人 步态控制 构型设计 找形方法 |
| 收稿时间： | 2020-10-31 |
Research state and key technology analysis of tensegrity robots |
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| CUI Zuo,HE Jingfeng.Research state and key technology analysis of tensegrity robots[J].Science & Technology Review,2022,40(7):84-93. | |
| Authors: | CUI Zuo HE Jingfeng |
| Institution: | 1. Department of Aerospace Engineering, Guizhou Institute of Technology, Guiyang 550003, China; 2. School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China |
| Abstract: | According to the latest researches of tensegrity robot, the characteristics of tensegrity robot are reviewed comprehensively and briefly, and the developments of typical prototypes are summarized. Furthermore, applications of tensegrity robot are introduced from three aspects of ground movement, space exploration and bionic field. On this basis, the key technologies are illustrated concerning initial configuration design, initial prestress analysis and structure stability judgment, morphology determination under external load, dynamic characteristics, and control methods. As last, technical problems of tensegrity robot to be studied in the future are discussed. |
| Keywords: | tensegrity robot gait control configuration design form-finding method |
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