Rolling direction prediction of tensegrity robot on the slope based on FEM and GA | |
Zhao KK(赵凯凯)1,3,4; Chang J(常健)3,4; Li B(李斌)3,4; Du WJ(杜汶娟)2 | |
刊名 | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE |
2020 | |
卷号 | 234期号:19页码:3846-3858 |
关键词 | Rolling direction predictions tensegrity robot finite element method optimization genetic algorithm |
ISSN号 | 0954-4062 |
产权排序 | 1 |
英文摘要 | Six-strut tensegrity robot is a new mobile robot whose outer surface is an icosahedron containing 8 regular triangles and 12 isosceles triangles, and the robot performs rolling locomotion along the edges of the triangle. On the slope, it has lots of poses depending on the slope's angles and positions of robot, which is difficult to control the rolling directions in the real world. This paper proposed a new method based on finite element method and a genetic algorithm to predict the rolling directions of the robot. The balanced forces equations of robot nodes are established using finite element method, which is a constrained optimization problem. The equations are transformed into an unconstrained optimization problem by the thinking of sequential unconstrained minimization technique. Finally, the unconstrained optimization problem is calculated by genetic algorithm, and the relations between the actuators and the rolling directions are obtained through the dot product of gravitational torque and the edge vector of bottom triangle. This method is verified by simulation and experiment results. |
资助项目 | National Natural Science Foundation of China[61803365] |
WOS关键词 | LOCOMOTION ; BEHAVIOR |
WOS研究方向 | Engineering |
语种 | 英语 |
WOS记录号 | WOS:000527779000001 |
资助机构 | National Natural Science Foundation of ChinaNational Natural Science Foundation of China [61803365] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/26745] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Zhao KK(赵凯凯); Chang J(常健) |
作者单位 | 1.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China 2.Institute of Automation, Chinese Academy of Sciences, Beijing, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China 4.Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Science, Shenyang, China |
推荐引用方式 GB/T 7714 | Zhao KK,Chang J,Li B,et al. Rolling direction prediction of tensegrity robot on the slope based on FEM and GA[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2020,234(19):3846-3858. |
APA | Zhao KK,Chang J,Li B,&Du WJ.(2020).Rolling direction prediction of tensegrity robot on the slope based on FEM and GA.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,234(19),3846-3858. |
MLA | Zhao KK,et al."Rolling direction prediction of tensegrity robot on the slope based on FEM and GA".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 234.19(2020):3846-3858. |
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