An approach to locomotion systems based on 3D tensegrity structures with a minimal number of struts
Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany
Proceedings: ROBOTIK 2012
Pages: 6Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
Böhm, V.; Jentzsch, A.; Kaufhold, T.; Schneider, F.; Becker, F.; Zimmermann, K. (Ilmenau University of Technology, Faculty of Mechanical Engineering, PF 100565, 98684, Ilmenau, Germany)
Tensegrity structures are prestressed compliant structures composed of a set of disconnected rigid compressed elements connected by continuous prestressed tensional elements. A spatially limited, local impact on tensegrity structures yields a global change of their shape. This essential property initiates the development of novel compliant locomotion systems with large shape variability and simple system design. The development of locomotion systems based on tensegrity structures has just begun. In the contribution two locomotion systems based on 3D tensegrity structures with a minimal number of struts are presented. In contrast to the known approaches the considered systems differ in their actuation / locomotion schemes. The working principle of the introduced locomotion systems is discussed and verified with experimental tests.