In this work, a tensegrity structure with spatially curved members is applied as rolling locomotion system. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the locomotion system a reliable actuation strategy is required. Therefore, the kinematics of the system considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the locomotion behavior a feasible actuation strategy is designed to control the trajectory of the system. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this system enables a two-dimensional rolling locomotion.

中文翻译：

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具有空间弯曲构件的滚动张拉整体结构的运动学分析

在这项工作中，具有空间弯曲构件的张拉整体结构被用作滚动运动系统。该结构的致动允许将最初的圆柱形状改变为圆锥形状。此外，该结构配备了内部可移动质量，以控制结构质心的位置。为了控制运动系统，需要可靠的驱动策略。因此，本文推导出考虑非完整约束的系统运动学。基于由此产生的对运动行为的洞察，设计了一种可行的驱动策略来控制系统的轨迹。为了验证这种方法，对运动学分析进行了数值评估。由于张拉整体结构的适当形状变化，模拟数据确认了路径跟随。因此，