论文标题
行星着陆和勘探的软张力系统
Soft Tensegrity Systems for Planetary Landing and Exploration
论文作者
论文摘要
在过去的十年中，张力系统一直是众多调查的重点，探讨了将它们采用用于行星登陆和勘探应用的可能性。早期方法主要集中在与紧张系统有关的运动方面，在该方面通过操纵系统的有线成员可以实现移动性。后来的努力集中在理解正在进行着陆事件的紧张系统的能源存储机制上。更确切地说，在高度动态的事件下，紧张结构的个体成员的屈曲并不一定意味着结构性故障，这表明可以通过允许其压缩构件扣紧来实现行星着陆器的有效结构设计。在这项工作中，我们结合了先前有关张力结构的研究的两个方面，显示了能够承受影响事件的晶格样结构构型，存储前Impact动力学的能量，并利用该能量的一部分进行运动过程。我们的工作通过实验和计算手段表明了这种提出的方法的可行性。
During the last decade, tensegrity systems have been the focus of numerous investigations exploring the possibility of adopting them for planetary landing and exploration applications. Early approaches mainly focused on locomotion aspects related to tensegrity systems, where mobility was achieved by actuating the cable members of the system. Later efforts focused on understanding energy storage mechanisms of tensegrity systems undergoing landing events. More precisely, it was shown that under highly dynamic events, buckling of individual members of a tensegrity structure does not necessarily imply structural failure, suggesting that efficient structural design of planetary landers could be achieved by allowing its compression members to buckle. In this work, we combine both aspects of previous research on tensegrity structures, showing a possible lattice-like structural configuration able to withstand impact events, store pre-impact kinetic energy, and utilize a part of that energy for the locomotion process. Our work shows the feasibility of this proposed approach via both experimental and computational means.
