张拉整体机器人构型设计及非线性力学特性分析

六杆张拉整体结构通过索-杆间内力实现平衡，具有大位移强非线性的特点，在机器人的行星探索领域具有较大的应用潜力。为得到该结构的非线性力学性能，通过节点矩阵、连接矩阵、矢量矩阵建立结构数学分析模型。在此基础上，考虑几何非线性，通过ANSYS软件建立力学分析模型，分析不同载荷及结构参数对张拉整体力学性能的影响。计算各参数的变形量敏感度，得出改善张拉整体结构力学性能的有效措施，最后研制了六杆张拉整体机器人样机进行翻滚实验，该结果为后续结构优化、运动学控制提供一定的理论支持。

Configuration Design and Nonlinear Mechanical Properties Analysis of Tensegrity Robot

The six-bar tensegrity is balanced by the internal force distribution between the cable and the bar,and has the characteristics of large displacement and strong nonlinearity,which has large application potential in the robot field of planetary exploration.To obtain the nonlinear mechanical properties of the structure,the mathematical analysis model of the six-bar tensegrity was constructed by the node matrices,adjacency matrices,and vector matrices.On this basis,considering the geometric nonlinearity of the structure,the mechanical analysis model was established,and the influence of different loads and structural parameters on the mechanical properties was analyzed.The deformation sensitivity of each parameter was calculated,and the effective method to improve the stiffness of the six-bar tensegrity was obtained.Finally,the six-bar tensegrity robot prototype was fabricated and the rolling over experiments were implemented.This conclusion can provide certain theoretical support for the follow-up structural optimization and kinematic control.