张拉整体球形机器人构型设计与控制研究进展

Review on Configuration Design and Control of Tensegrity Spherical Robots

随着科学探索和工程实践对无人化需求的持续提升,机器人已成为航空航天、工业生产等领域必不可少的关键装备,兼具构型柔性和承载刚度的张拉整体球形机器人在深空探测、灾害救援等非结构化应用场景备受关注。在简述张拉整体基本理论的基础上,围绕张拉整体球形机器人的初始构型设计与运动构型控制,重点概述了此类机器人的设计参数与性能参数,运动模态及基本原理,传统与新兴控制方案,模拟环境与仿真技术,以及现有样机形式等多方面的研究现状与发展趋势,为开发张拉整体球形机器人的姿态控制技术提供理论参考。

With the continuous improvement of scientific exploration and engineering practice on unmanned demand,robots have become essential key equipment in aerospace,industrial production and many other engineering.Tensegrity spherical robots with both structural flexibility and bearing stiffness have attracted much attention in deep space exploration,disaster rescue and other unstructured application scenarios.Based on a brief introduction to tensegrity theory,this research focuses on the initial configuration design and motion configuration control of tensegrity spherical robots,focusing on the design and performance parameters,motion modes and basic principles,traditional and emerging control schemes,simulation environment and technology,as well as the current research status and development trends of prototype forms and other aspects of such robots.This review could provide a theoretical reference for developing the attitude control technology of tensegrity spherical robots.