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

Azamat Yeshmukhametov, Aisulu Tileukulova, Koichi Koganezawa

2023

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DOI 10.1109/aim46323.2023.10196287
Data confidence 70 medium
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Abstract

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.