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Tensegrity is a structure consisting of rigid bodies and internal tensile members, with no contact between the rigid bodies. The model of an arm with a tensegrity structure is not movable as it is, but we believe that it can be made movable and flexible by incorporating springs. We developed an arm that incorporates springs in the arm’s tensile mem...
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Context 1
... has since spread to the architectural field. For example, it is also used for the Kurilpa Bridge in Australia [8] (Figure 2). Various studies have also been conducted on the classification and analysis of tensegrity structures [5,[9][10][11]. ...
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... embedded images show the states corresponding to the weights.For weights over 3000 g, measurements were stopped because the compression materials came into contact with each other, and the shape of the arm began to distort. Figure 20 shows the graph of the height of the tip with a 500 g weight attached when it was pulled upward by other weights. The height without the 500 g weight on the tip of the lower arm was 17.7 cm. ...
Citations
... A recent survey paper [36] classified tensegrity robots into different classes: prismatic [37], spherical [38,39], humanoid musculoskeletal [40][41][42], and bio-inspired [43]. Prismatic tensegrity robots (see Figure 1) that are based on the composition of so-called tensegrity prisms constitute one of the most popular solutions adopted to date, which facilitates stability, symmetry, and self-equilibrium. ...
Tensegrity robots offer several advantageous features, such as being hyper-redundant, lightweight, shock-resistant, and incorporating wire-driven structures. Despite these benefits, tenseg-rity structures are also recognized for their complexity, which presents a challenge when addressing the kinematics and dynamics of tensegrity robots. Therefore, this research paper proposes a new kinematic/kinetic formulation for tensegrity structures that differs from the classical matrix differential equation framework. The main contribution of this research paper is a new formulation, based on vector differential equations, which can be advantageous when it is convenient to use a smaller number of state variables. The limitation of the proposed kinematics and kinetic formulation is that it is only applicable for tensegrity robots with prismatic structures. Moreover, this research paper presents experimentally validated results of the proposed mathematical formulation for a six-bar tensegrity robot. Furthermore, this paper offers an empirical explanation of the calibration features required for successful experiments with tensegrity robots.
