Vries, Tim de (2023) Feasibility analysis of a jumping tensegrity robot using form finding & kinematic models. Master's Thesis / Essay, Mechanical Engineering.
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Abstract
In this research it is theoretically investigated how well an icosahedron tensegrity structure with 6 bars and 24 cables is capable of jumping. The bars of the conventional icosahedron tensegrity are replaced by legs with a torsion spring joint at the halfway point, and the legs are actuated by a gear-reduced motor. A form finding model of the jumping tensegrity structure has been constructed in a Matlab/Simulink environment, which is the main result of this research. This model is used to examine a static state of the robot, both at rest and during application of torque at the joint. After that two other models are proposed: a kinematic model which directly calculates acceleration from reaction forces, and another more complicated Euler-Lagrange description which utilizes kinetic and potential energies. By varying physical parameters of the robot an estimate can be made of the performance of the robot. It is determined that theoretically the robot should be able to jump, and the set of relevant parameters can be tuned to increase performance and stability. A Simscape simulation which also shows behaviour in real time, including rolling and repositioning of the robot. The Simscape model is used as a validation tool for the found parameters. The Simulink model is a good use for optimizing parameter values, and the Simscape model gives a better prediction of real life behaviour of the robot. More work is needed on real-time kinematic simulations like the Euler-Lagrange model to do more accurate analysis regarding the performance of the robot.
| Item Type: | Thesis (Master's Thesis / Essay) |
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| Supervisor name: | Cao, M. and Jayawardhana, B. and Liu, Z. |
| Degree programme: | Mechanical Engineering |
| Thesis type: | Master's Thesis / Essay |
| Language: | English |
| Date Deposited: | 06 Jun 2023 09:14 |
| Last Modified: | 08 Jun 2023 13:03 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/29664 |
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