Four-bar tensegrity robot based on ADAMS simulation

Abstract

The tensegrity robot is a new field in the research of tensegrity structure, compared with other traditional types of the robots, it has the advantages of light-weighting, self-deformation and fold ability. In this paper, the model construction and simulation analysis of four-bar tensegrity robot are conducted. Firstly, the mathematical model of four-bar tensegrity structure is established by the node-generalized coordinates and connection matrixes. Then, the design scheme of four-bar tensegrity robot driven by diagonal cable is proposed. After that, the feasibility of the design scheme is verified by ADAMS simulation, and the improvement measures are proposed towards the roll trajectory deviation of four-bar tensegrity robots appearing in the simulation. Finally, the performance parameters of the robot rolling gait are studied by simulation results. Through the research of this paper, a four-bar tensegrity robot which can roll and move is proposed, and the feasibility of this design is verified by simulation analysis.