Abstract
Over the past few decades, tensegrity structures have garnered significant interest among robotics researchers due to their high payload capacity, lightweight construction, and resistance to external shocks. Despite these advantages, certain aspects, such as the impact of the number of wires and rods on the robot’s stiffness, remain underexplored. This study aims to fill this gap through experimental analysis, focusing on the robustness of tensegrity structures against external forces influenced by the number of wires and struts. We present an experimental comparison of operational consistency under various conditions, including payload, no payload, and vibration tests, between two prototypes: one with a triangular prismatic shape and another with a quadrangular shape featuring a larger number of tensegrity elements. The primary objective of this research is to evaluate the structural stability and payload capacity of both prototypes based on the number of wires and bars.