A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
The invention discloses a dodecahedron tensegrity-based movable structure and an assembling method thereof.The movable structure comprises 10 pressing rods and 30 inhaul cables, 20 hinge joints are arranged at the ends of the 10 pressing rods in a one-to-one correspondence mode, each hinge joint is connected with one pressing rod and three inhaul cables, the 10 pressing rods surround in an inclined mode to form an inner frame, and the inner frame is connected with the ten pressing rods in a one-to-one correspondence mode; the 30 inhaul cables are enveloped on the outer side of the inner frame through the 20 hinge joints to form a dodecahedron structure. The combined dodecahedron structure is an approximately spherical polyhedral space, the driver is used for changing the axial length of the driving component and damaging the self-balancing state of the structure, so that the ground projection of the overall mass center of the structure deviates from the structure ground contact surface, and then the structure is driven to move; the motion performance, the terrain adaptability, the motion stability and the path selection flexibility of the structure are further improved compared with those of other structures, and the spherical intelligent stretch-draw overall structure robot has a good application prospect in design of spherical intelligent stretch-draw overall structure robots.
本发明公开了一种基于十二面体张拉整体的可动结构及其组装方法，可动结构包括10根压杆和30根拉索，10根压杆的端部一一对应设置有20个铰接节点，每个铰接节点上均连接1根压杆和3根拉索，10根压杆呈倾斜状环绕围成内部框架，30根所述拉索通过20个铰接节点包络在内部框架外侧形成十二面体结构。本发明组合成的十二面体结构为一个近似球形多面体空间，利用驱动器改变主动构件的轴向长度，破坏结构的自平衡状态，使得结构整体质心的地面投影偏移出结构触地面，进而驱动结构产生运动，结构的运动性能、地形适应性、运动的平稳性和路径选择的灵活性比其他构型有进一步的提升，在设计球形智能张拉整体结构机器人中具有很好的应用前景。
The invention discloses a dodecahedron tensegrity-based movable structure and an assembling method thereof.The movable structure comprises 10 pressing rods and 30 inhaul cables, 20 hinge joints are arranged at the ends of the 10 pressing rods in a one-to-one correspondence mode, each hinge joint is connected with one pressing rod and three inhaul cables, the 10 pressing rods surround in an inclined mode to form an inner frame, and the inner frame is connected with the ten pressing rods in a one-to-one correspondence mode; the 30 inhaul cables are enveloped on the outer side of the inner frame through the 20 hinge joints to form a dodecahedron structure. The combined dodecahedron structure is an approximately spherical polyhedral space, the driver is used for changing the axial length of the driving component and damaging the self-balancing state of the structure, so that the ground projection of the overall mass center of the structure deviates from the structure ground contact surface, and then the structure is driven to move; the motion performance, the terrain adaptability, the motion stability and the path selection flexibility of the structure are further improved compared with those of other structures, and the spherical intelligent stretch-draw overall structure robot has a good application prospect in design of spherical intelligent stretch-draw overall structure robots.
本发明公开了一种基于十二面体张拉整体的可动结构及其组装方法，可动结构包括10根压杆和30根拉索，10根压杆的端部一一对应设置有20个铰接节点，每个铰接节点上均连接1根压杆和3根拉索，10根压杆呈倾斜状环绕围成内部框架，30根所述拉索通过20个铰接节点包络在内部框架外侧形成十二面体结构。本发明组合成的十二面体结构为一个近似球形多面体空间，利用驱动器改变主动构件的轴向长度，破坏结构的自平衡状态，使得结构整体质心的地面投影偏移出结构触地面，进而驱动结构产生运动，结构的运动性能、地形适应性、运动的平稳性和路径选择的灵活性比其他构型有进一步的提升，在设计球形智能张拉整体结构机器人中具有很好的应用前景。
Movable structure based on dodecahedron tensegrity and assembling method thereof
一种基于十二面体张拉整体的可动结构及其组装方法
2024-08-02
Patent
Electronic Resource
Chinese
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