可变刚度缆绳驱动张拉整体机器人，实现自感知与灵活适应。
Design of a Variable Stiffness Quasi-Direct Drive Cable-Actuated Tensegrity Robot
- 用新型准直驱缆绳执行器+低伸缩缆线实现无外部传感器的本体感知。
- 电缆长度估计误差小于1%，刚度可调范围达最小刚度的7倍。
- 模块化设计适合自主控制与开源协作研究，适合柔性机器人方向者。
张拉整体机器人在需要极端可变形性和鲁棒性的任务中表现优异。然而，由于自由度高且形状非传统，其状态估计和载荷通用性面临挑战。本文介绍了一种模块化三杆张拉整体机器人，具备可定制载荷结构。该机器人采用新型准直驱（QDD）缆绳执行器与低伸缩聚合物缆线，无需外部力/扭矩传感器即可实现高精度本体感知。设计支持实时刚度调节，提升对环境与载荷的适应能力。本文展示了机器人的设计、制造、组装及实验结果。实验数据表明，电缆长度估计精度高（相对杆长误差<1%），缆绳执行器刚度可调至最小刚度的7倍，实现自支撑。所提出的张拉整体机器人为未来自主运行与开源模块化设计提供了平台。
原文摘要 · Abstract (English)
Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape. This paper introduces a modular three-bar tensegrity robot featuring a customizable payload design. Our tensegrity robot employs a novel Quasi-Direct Drive (QDD) cable actuator paired with low-stretch polymer cables to achieve accurate proprioception without the need for external force or torque sensors. The design allows for on-the-fly stiffness tuning for better environment and payload adaptability. In this paper, we present the design, fabrication, assembly, and experimental results of the robot. Experimental data demonstrates the high accuracy cable length estimation (<1% error relative to bar length) and variable stiffness control of the cable actuator up to 7 times the minimum stiffness for self support. The presented tensegrity robot serves as a platform for future advancements in autonomous operation and open-source module design.
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