张拉整体
机器人
有效载荷(计算)
计算机科学
模块化设计
材料科学
模拟
结构工程
人工智能
工程类
计算机网络
操作系统
网络数据包
作者
Lianjun Wu,Mônica Jung de Andrade,Tarang Brahme,Yonas Tadesse,Ray H. Baughman
摘要
This paper describes the design and experimental investigation of a self-reconfigurable icosahedral robot for locomotion. The robot consists of novel and modular tensegrity structures, which can potentially maneuver in unstructured environments while carrying a payload. Twisted and Coiled Polymer (TCP) muscles were utilized to actuate the tensegrity structure as needed. The tensegrity system has rigid struts and flexible TCP muscles that allow keeping a payload in the central region. The TCP muscles provide large actuation stroke, high mechanical power per fiber mass and can undergo millions of highly reversible cycles. The muscles are electrothermally driven, and, upon stimulus, the heated muscles reconfigure the shape of the tensegrity structure. Here, we present preliminary experimental results that determine the rolling motion of the structure.
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