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

TL;DR

This paper introduces a new assembly method and design improvements for a 15-bar tensegrity structure, aiming to facilitate larger, more complex tensegrity robots with enhanced control and manufacturability.

Contribution

The paper presents an innovative assembly methodology and a new strut design for 15-bar tensegrity structures, advancing the construction and potential control of large-scale tensegrity robots.

Findings

Development of a novel assembly system for tensegrity structures.

Design of new struts with integrated electronics and encoders.

Progress towards scalable, controllable 15-bar tensegrity robots.

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.