张拉整体球形机器人构型设计与控制研究进展

With the continuous improvement of scientific exploration and engineering practice on unmanned demand, robots have become essential key equipment in aerospace, industrial production and many other engineering. Tensegrity spherical robots with both structural flexibility and bearing stiffness have attracted much attention in deep space exploration, disaster rescue and other unstructured application scenarios. Based on a brief introduction to tensegrity theory, this research focuses on the initial configuration design and motion configuration control of tensegrity spherical robots, focusing on the design and performance parameters, motion modes and basic principles, traditional and emerging control schemes, simulation environment and technology, as well as the current research status and development trends of prototype forms and other aspects of such robots. This review could provide a theoretical reference for developing the attitude control technology of tensegrity spherical robots.