A Novel Design and Improvement of 15-Bar Assembly Tensegrity Robotics Structure

Yunyi Chu

A Novel Design and Improvement of 15-Bar Assembly Tensegrity Robotics Structure

Robotics 2022-11-15 v1

Authors: Yunyi Chu

Abstract

While the ultimate goal is to produce a tensegrity more than 6 struts, e.g. a 15-bar tensegrity, past experience has demonstrated that we must first develop an innovative system that will facilitate the assembly of a general n-bar tensegrity. To be successful, we believe the development of the new assembly methodology must encompass not only the design of the clamping system but also the design of the tensegrity itself, including the struts, the springs and the spring-to-strut connectors. We therefore propose to develop the 15-bar in two phases: Phase I will be the development of an innovative assembly method, and Phase II will focus on the design and manufacture of a 15-bar tensegrity, with a new strut design probably being part of this. Longer term goals will be aimed at repackaging the wireless electronics on the new struts and adding encoders to control the phase of the motors shafts.

Keywords

tensegrity robotics 15-bar assembly n-bar tensegrity clamping system strut design spring-to-strut connector

Cite

@article{arxiv.2211.07515,
  title  = {A Novel Design and Improvement of 15-Bar Assembly Tensegrity Robotics Structure},
  author = {Yunyi Chu},
  journal= {arXiv preprint arXiv:2211.07515},
  year   = {2022}
}

Related papers

View all related →

Dynamical Systems · Mathematics

Mathematics of stable tensegrity structures

Ajay B. Harish, Vijay Nandurdikar, Shubham Deshpande, Stephanie Andress