Structure Design of Variable Diameter Walking Wheel based on Tensegrity Structure

Jianwei Sun; Daohao Sun; Yipeng Luan; Wenrui Liu; Guangsheng Song

doi:10.16578/j.issn.1004.2539.2020.11.016

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Structure Design of Variable Diameter Walking Wheel based on Tensegrity Structure

Design· Calculation | 更新时间：2022-11-10

- Structure Design of Variable Diameter Walking Wheel based on Tensegrity Structure
- Journal of Mechanical Transmission Vol. 44, Issue 11, Pages: 94-99(2020)
- 作者机构：
  
  1.长春工业大学机电工程学院，吉林长春 130012
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.11.016
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孙建伟,孙道昊,栾亦鹏等.基于张拉整体结构的变径步行轮结构设计[J].机械传动,2020,44(11):94-99.

Sun Jianwei,Sun Daohao,Luan Yipeng,et al.Structure Design of Variable Diameter Walking Wheel based on Tensegrity Structure[J].Journal of Mechanical Transmission,2020,44(11):94-99.
孙建伟,孙道昊,栾亦鹏等.基于张拉整体结构的变径步行轮结构设计[J].机械传动,2020,44(11):94-99. DOI： 10.16578/j.issn.1004.2539.2020.11.016.

Sun Jianwei,Sun Daohao,Luan Yipeng,et al.Structure Design of Variable Diameter Walking Wheel based on Tensegrity Structure[J].Journal of Mechanical Transmission,2020,44(11):94-99. DOI： 10.16578/j.issn.1004.2539.2020.11.016.

摘要

为克服普通车轮结构在非结构化地形上越障能力和腿式机器人在结构化地形上移动速度方面的不足，基于张拉整体结构自适应、自稳定、柔性的结构优势，提出一种创新型张拉变径步行轮式结构。通过分析两杆三索平面张拉整体结构，设计出该变径步行轮的基本张拉步行单元，结合最小势能原理对张拉变径步行单元进行运动学分析，利用Matlab得出步行轮结构参数和张拉变径步行轮展收比。在此基础上，通过张拉变径步行轮展收比最优原则确定步行轮轮毂结构和传动限位机构，利用Catia软件建立张拉变径步行轮的结构模型；构建Adams步行轮构仿真模型，确定张拉变径步行轮的运动姿态特征并进行运动学仿真模拟分析，得到张拉变径步行轮半径随时间变化规律。仿真结果表明，设计出的张拉变径步行轮能够实现在不同环境下稳定行走，可以在轮式模式和步行模式中进行模式转换，从而证明了提出方法的有效性和理论模型的正确性。

Abstract

In order to overcome the obstacle surmounting ability of ordinary wheel structures on unstructured terrains and the disadvantage of moving speed of leg-type robots on structured terrains， an innovative tensegrity variable diameter walking wheel mechanism is proposed based on the advantages of adaptability， self-stability and flexible mechanism. The basic tensegrity walking unit of the variable diameter wheel is designed after the analysis of two-bar and three-cable plane tensegrity mechanism. The kinematics analysis of the tensegrity variable diameter unit is carried out by using the principle of minimum potential energy， and the parameters of the walking wheel are obtained by Matlab software. On this basis， the wheel hub structure and limited mechanism of the walking wheel are determined through the optimal principle of the stretch-reducing walking wheel and the mechanism model of the tensegrity wheel is established using Catia software. Then， the simulation model using Adams software is built and is applied to simulate the motions of the tensegrity wheel. Thus， the changed rule of the radius of the tensegrity wheel with time is obtained. The stable walking in different terrains can be realized and transformed between wheeled and walking mode by the designed tensegrity variable diameter walking wheel. The validity of the proposed method and the correctness of the theoretical model are verified.

关键词

可变径步行轮张拉整体自适应性柔性机构

Keywords

Variable diameterWalking wheelTensegrityAdaptabilityFlexible mechanism

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