Abstract: In order to take the advantages of fast moving speed of wheeled robots and strong maneuverability of legged robots, a new tensegrity variable-diameter walking wheel that might switch between wheeled and legged was proposed. A new type of tensegrity structure was proposed by equivalent replacement of tensile and compression members in the two-bar, three-cable plane tensegrity structure. Then, the basic unit structures, unit connection methods and optimum numbers of wheel hubs of the tensegrity variable-diameter walking wheels were given. In order to overcome the disadvantages of poor rigidity caused by multiple degrees of freedom,the method of degree of freedom constraint and equivalent integrated of elastic components of the wheels were given. Therefore, the tensegrity variable-diameter walking wheels have convenient assembly, stable movement and loadable supports. Combining with the principles of minimum potential energy and the kinematics analysis of the tensegrity units of tensegrity variable-diameter walking wheels, the structural parameters and the spreading ratio of tensegrity variable-diameter walking wheels were obtained.The implementations of each functions of the tensegrity variable diameter walking wheels were verified through experiments.

Key words:  , walking wheel, tensegrity, variable diameter, self-adaption, flexible mechanism

摘要： 为发挥轮式机器人移动速度快和腿式机器人机动性能强的优势，提出一种可实现轮式和腿式切换的新型张拉变径步行轮。通过对两杆三索平面张拉整体结构中拉压构件的等效替换，提出了一种新型张拉整体结构。在此基础上，给出了张拉变径步行轮的基本单元结构、单元连接方法和最优轮毂数。为克服由于自由度多导致刚性差的缺点，给出了张拉变径步行轮自由度约束的方法和弹性构件等效集成方式，从而使得张拉变径步行轮装配简单、运动平稳以及可负载支撑。结合最小势能原理对张拉变径步行轮张拉单元进行运动学分析，得到了张拉变径步行轮的结构参数和展收比。通过实验，对张拉变径步行轮各项功能的可实现性进行了验证。

关键词: 步行轮, 张拉整体, 可变径, 自适应性, 柔性机构