相关论文: Stacked Tensegrity Mechanism for Medical Applicati…

Tensegrity mechanisms are composed of rigid and tensile parts that are in equilibrium. They are interesting alternative designs for some applications, such as modelling musculo-skeleton systems. Tensegrity mechanisms are more difficult to…

Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods…

There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…

Tensegrity mechanisms have several interesting properties that make them suitable for a number of applications. Their analysis is generally challenging because the static equilibrium conditions often result in complex equations. A class of…

Tensegrity structures are frameworks in a stable self-equilibrated prestress state that have been applied in various fields in science and engineering. Research into tensegrity structures has resulted in reliable techniques for their form…

The cytoskeleton (CSK) plays an important role in many cell functions. Given the similarities between the mechanical behavior of tensegrity structures and the CSK, many studies have proposed different tensegrity-based models for simulating…

Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…

This study presents a finite element analysis approach to non-linear and linearized tensegrity dynamics based on the Lagrangian method with nodal coordinate vectors as the generalized coordinates. In this paper, nonlinear tensegrity…

Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…

Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By…

This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…

Many mechanical structures, both engineered and biological, combine heavy rigid elements such as bones and beams with lightweight flexible ones such as cables and membranes. These are referred to as tensegrities, reflecting that cables can…

Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control…

The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…

Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…

Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…

Tensegrity structures are special architectures made by floating compressed struts kept together by a continuous system of tensed cables. The multiplicity of shapes that tensegrity structures can assume and their intrinsic capability to be…

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…

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar…

Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…