[1]徐佶,冯晓东,等.十二杆张拉整体结构动态分析及路径规划研究[J].西安建筑科技大学学报(自然科学版),2024,56(02):238-248.[doi:10.15986/j.1006-7930.2024.02.010]
　XU Ji,FENG Xiaodong,XU Xian,et al.Research on dynamic analysis and path planning of twelve-bartensegrity structure[J].J. Xi’an Univ. of Arch. & Tech.(Natural Science Edition),2024,56(02):238-248.[doi:10.15986/j.1006-7930.2024.02.010]
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十二杆张拉整体结构动态分析及路径规划研究()
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西安建筑科技大学学报（自然科学版）[ISSN:1006-7930/CN:61-1295/TU]

卷:
56
期数:
2024年02期
页码:
238-248
栏目:
出版日期:
2024-04-28

文章信息/Info

Title:
Research on dynamic analysis and path planning of twelve-bartensegrity structure
文章编号:
1006-7930(2024)02-0238-11
作者:
徐佶1; 冯晓东1;  2; 许贤2; 陈耀3
（1.绍兴文理学院 土木工程学院，浙江 绍兴 312000；2.浙江大学 建筑工程学院，浙江 杭州 310058；3.东南大学 土木工程学院，江苏 南京 211189）
Author(s):
XU Ji1 ;  FENG Xiaodong1;  2 ;  XU Xian2 ;  CHEN Yao3
(1.School of Civil Engineering， Shaoxing University, Zhejiang Shaoxing 312000, China; 2.College of Civil Engineering and Architecture， Zhejiang University, Hangzhou 310058,China; 3.School of Civil Engineering, Southeast University, Nanjing 211189, China)
关键词:
张拉整体; 多步态; 引导策略; 步态组合; 路径规划
Keywords:
tensegrity;  multigaits;  guidance strategy;  gait combination;  path planning
分类号:
TU394
DOI:
10.15986/j.1006-7930.2024.02.010
文献标志码:
A
摘要:
张拉整体因其区别于传统结构的特点在土木和可动结构领域有广泛的发展前景，目前学者对于多步态或更复杂的球形张拉整体研究较少，且一些传统路径规划方法不适用于多面体张拉整体结构.因此，本文采用几何方法找寻了一种多步态的十二杆球形张拉整体结构（Snub-12）的合理构型，并用找形方法进行了验证.定义并分析了Snub12的多种基本步态和各步态形成的理论路径空间，并将其与单步态的6杆球形张拉整体结构（TR-6）进行对比，明确了两种结构运动的特点和区别.对快速搜索随机树算法进行改进并利用其产生引导路径，结合Snub12步态组合的情况，生成适合不同场景的合理运动路径，最后通过仿真分析验证了方法的可行性和有效性.分析结果表明：同等条件下，不论是路径空间中盲区占比还是独立滚动步态的翻滚步长，Snub-12均优于TR-6，更适宜开展长距离运动.基于引导策略的路径规划方法可以解决多步态张拉整体结构的路径规划问题，这丰富了球形张拉整体结构的运动理论，可以为该类球形张拉整体可动结构的实际应用提供了理论支撑.
Abstract:
The tensegrity has a broad development prospect in the field of civil engineering and movable structures because of its characteristics different from those of traditional structures. At present, scholars have less research on multi gait or more complex spherical tensegrity, and some traditional path planning methods are not suitable for polyhedral tensegrity structures. Therefore, a twelve-bar tensegrity structure is studied and a path planning method based on guiding strategy is proposed in this paper. Firstly, according to the geometric properties of the snub cube, a reasonable configuration of a twelve-bar spherical tensegrity structure (Snub-12) with multi gaits is found by using the geometric method and verified by the form finding method. The multiple basic gaits of Snub-12 movable robot and the theoretical path space formed by each gait are defined and analyzed, and the characteristics and differences between the two robots are clarified by comparing with the 6-bar spherical tensegrity structure (TR-6) with single gait. The rapidlyexploring random tree algorithm is modified to generate a guide path, and reasonable motion path suitable for different scenes are generated in consideration of the gait combination of Sunb-12. Finally, the feasibility and effectiveness of the proposed method are verified by simulation analysis. The results show that under the same conditions, Snub-12 is better than TR-6 in terms of the blind zone ratio in the path space and the rolling step length of the independent rolling gait, and is proved to be more suitable for long-distance sports. The proposed path planning method based on the guidance strategy provides a method to solve the path planning problem of multi-gait tensegrity structure, which not only enriches the motion theory of spherical tensegrity structure, but also provides theoretical support for the practical application of such spherical tensegrity movable structures.

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备注/Memo

备注/Memo:
收稿日期:2022-11-28 修回日期:2024-03-28
基金项目:国家自然科学基金项目（51908356）; 国家留学基金委项目（202008330250）
第一作者:徐佶（1996—），男，硕士生，主要从事张拉整体可动结构研究. E-mail: 837400483@qq.com
通信作者:冯晓东（1987-），男，博士,副教授，硕士生导师，主要从事大跨度空间结构及智能结构研究.E-mail: fengxiaodong@usx.edu.cn
更新日期/Last Update: 2024-06-24