摘要
六杆张拉整体结构是球形张拉整体机器人的基础,其结构参数和力学参数为构建球形张拉整体机器人提供理论支持。主要对六杆张拉整体结构的结构参数和力学参数进行分析,分析六杆张拉整体结构的结构特点。通过力平衡分析,获得自稳定的六杆张拉整体结构的结构参数间的关系,即杆长度、索长度和杆间距3个参数彼此相关。根据分析结果,进一步推导出杆构件和索构件的力密度的关系。
The ball tensegrity robot is based on the 6-bar tensegrity structure which setting up the robot benefits in.Here structural and force parameters of the 6-bar tensegrity structure were investigated.Firstly,structural characteristics of the 6-bar tensegrity structure were dis-cussed.Then force equilibrium of the structure was analyzed to obtain relations between its structural parameters which were dependent.Force densities of the bars and strings were studied further.
作者
田云峰
罗阿妮
刘贺平
TIAN Yunfeng;LUO Ani;LIU Heping(AVIC China Airborne Missile Academy,Luoyang Henan 471000,China;College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin Heilongjiang 150001,China)
出处
《机床与液压》
北大核心
2019年第20期63-65,共3页
Machine Tool & Hydraulics
基金
国家自然科学基金青年科学基金项目(51605111)
国家自然科学基金面上项目(51875111
51675114)
黑龙江省自然科学基金项目(LH2019E023)
关键词
六杆张拉整体结构
自稳定
力平衡
结构参数
力学参数
6-bar tensegrity structure
Self-equilibrium
Force equilibrium
Structural parameters
Force parameters
