Six-bar Pulley-Guided Node Based Prismatic Tensegrity Robot Form-finding Analysis and Experiment

This study offers a unique analysis of node-based tensegrity robots guided by pulleys. Tensegrity structures comprise some compressive and tensile members, which provide a lightweight and flexible body. The primary goal of this research is to show how reducing friction in tensegrity robots through t...

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Bibliographic Details
Main Authors: Yeshmukhametov, Azamat, Tileukulova, Aisulu, Koganezawa, Koichi
Format: Conference Proceeding
Language:English
Subjects:
Error analysis
form-finding analysis
Friction
Mechatronics
Payloads
pulley-guided node
Pulleys
robot design
Robots
Tensegrity
Wires
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Summary:This study offers a unique analysis of node-based tensegrity robots guided by pulleys. Tensegrity structures comprise some compressive and tensile members, which provide a lightweight and flexible body. The primary goal of this research is to show how reducing friction in tensegrity robots through the use of pulley-guided nodes can enhance their form-finding capabilities, as demonstrated by experimental evidence. The proposed new pulley-based node design reduces friction between wires and rigid components, thereby improving the form-finding ability of the robots.
ISSN:2159-6255
DOI:10.1109/AIM46323.2023.10196287