An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element
Locomotive robot based on tensegrity has recently drawn much attention due to its lightweight and flexibility. This article presents an improved numerical model for locomotive tensegrities. The previously used bar element for struts is replaced by beam element, and rigid joint element is used to con...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-04-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806231162442 |
| _version_ | 1827955942045515776 |
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| author | Xian Xu Meijia Wang Yanfeng Zheng Chunlin Zhou Yaozhi Luo |
| author_facet | Xian Xu Meijia Wang Yanfeng Zheng Chunlin Zhou Yaozhi Luo |
| author_sort | Xian Xu |
| collection | DOAJ |
| description | Locomotive robot based on tensegrity has recently drawn much attention due to its lightweight and flexibility. This article presents an improved numerical model for locomotive tensegrities. The previously used bar element for struts is replaced by beam element, and rigid joint element is used to consider more details of the tendon–strut connections. The vector form intrinsic finite element (VFIFE) method is adopted to formulate the numerical model and carry out the simulation. The improvement of the proposed model on the prediction of feasible rolling gaits is quantitatively verified by experiments on a six-strut locomotive tensegrity. Mann–Whitney U test is adopted, and the p value between the experimental success rates of the gait primitives generated by the improved model and the rates of the gait primitives generated by the previous model is 1.46 × 10 − 12 . It is shown that the improved model is more consistent with the experiment by considering the details of the tendon–strut connection. |
| first_indexed | 2024-04-09T14:55:34Z |
| format | Article |
| id | doaj.art-9d1852f71a884627877e0806f00d9fcf |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-09T14:55:34Z |
| publishDate | 2023-04-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-9d1852f71a884627877e0806f00d9fcf2023-05-02T06:33:18ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142023-04-012010.1177/17298806231162442An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite elementXian Xu0Meijia Wang1Yanfeng Zheng2Chunlin Zhou3Yaozhi Luo4 Key Laboratory of Space Structures of Zhejiang Province, Hangzhou, China Architectural Design and Research Institute of Zhejiang University Co., Ltd, Hangzhou, China Key Laboratory of Space Structures of Zhejiang Province, Hangzhou, China College of Control Science & Engineering, Zhejiang University, Hangzhou, China Key Laboratory of Space Structures of Zhejiang Province, Hangzhou, ChinaLocomotive robot based on tensegrity has recently drawn much attention due to its lightweight and flexibility. This article presents an improved numerical model for locomotive tensegrities. The previously used bar element for struts is replaced by beam element, and rigid joint element is used to consider more details of the tendon–strut connections. The vector form intrinsic finite element (VFIFE) method is adopted to formulate the numerical model and carry out the simulation. The improvement of the proposed model on the prediction of feasible rolling gaits is quantitatively verified by experiments on a six-strut locomotive tensegrity. Mann–Whitney U test is adopted, and the p value between the experimental success rates of the gait primitives generated by the improved model and the rates of the gait primitives generated by the previous model is 1.46 × 10 − 12 . It is shown that the improved model is more consistent with the experiment by considering the details of the tendon–strut connection.https://doi.org/10.1177/17298806231162442 |
| spellingShingle | Xian Xu Meijia Wang Yanfeng Zheng Chunlin Zhou Yaozhi Luo An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element International Journal of Advanced Robotic Systems |
| title | An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element |
| title_full | An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element |
| title_fullStr | An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element |
| title_full_unstemmed | An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element |
| title_short | An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element |
| title_sort | improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element |
| url | https://doi.org/10.1177/17298806231162442 |
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