Rolling direction prediction of tensegrity robot on the slope based on FEM and GA

doi:10.1177/0954406220916482

CASIA OpenIR > 数字内容技术与服务研究中心 > 智能技术与系统工程

	Rolling direction prediction of tensegrity robot on the slope based on FEM and GA
	Zhao, Kaikai 1,2,3; Chang, Jian 1,2; Li, Bin1,2 ; Du, Wenjuan4
发表期刊	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
ISSN	0954-4062
	2020-04-14
页码	13
通讯作者	Zhao, Kaikai(zhaokaikai@sia.cn) ; Chang, Jian(changjian@sia.cn)
摘要	Six-strut tensegrity robot is a new mobile robot whose outer surface is an icosahedron containing 8 regular triangles and 12 isosceles triangles, and the robot performs rolling locomotion along the edges of the triangle. On the slope, it has lots of poses depending on the slope's angles and positions of robot, which is difficult to control the rolling directions in the real world. This paper proposed a new method based on finite element method and a genetic algorithm to predict the rolling directions of the robot. The balanced forces equations of robot nodes are established using finite element method, which is a constrained optimization problem. The equations are transformed into an unconstrained optimization problem by the thinking of sequential unconstrained minimization technique. Finally, the unconstrained optimization problem is calculated by genetic algorithm, and the relations between the actuators and the rolling directions are obtained through the dot product of gravitational torque and the edge vector of bottom triangle. This method is verified by simulation and experiment results.
关键词	Rolling direction predictions tensegrity robot finite element method optimization genetic algorithm
DOI	10.1177/0954406220916482
关键词[WOS]	LOCOMOTION ; BEHAVIOR
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61803365]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000527779000001
出版者	SAGE PUBLICATIONS LTD
七大方向——子方向分类	复杂系统理论与方法
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/39364
专题	数字内容技术与服务研究中心_智能技术与系统工程
通讯作者	Zhao, Kaikai; Chang, Jian
作者单位	1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China 2.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang, Peoples R China 3.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Peoples R China 4.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Kaikai,Chang, Jian,Li, Bin,et al. Rolling direction prediction of tensegrity robot on the slope based on FEM and GA[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2020:13.
APA	Zhao, Kaikai,Chang, Jian,Li, Bin,&Du, Wenjuan.(2020).Rolling direction prediction of tensegrity robot on the slope based on FEM and GA.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,13.
MLA	Zhao, Kaikai,et al."Rolling direction prediction of tensegrity robot on the slope based on FEM and GA".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE (2020):13.