Volume 5B: 41st Mechanisms and Robotics Conference 2017
DOI: 10.1115/detc2017-68264
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Modular Elastic Lattice Platform for Rapid Prototyping of Tensegrity Robots

Abstract: This paper presents a new platform for prototyping tensegrity robots that uses an elastic lattice structure for the robots' tension network. This approach significantly reduces the time required for design, manufacturing, and assembly, while increasing experimental repeatability and symmetry of the tensioned robot. The platform allows more scientific experiments to be performed in less time and with higher quality.This lattice platform, with associated laser-cutting design techniques developed in this work, ha… Show more

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Cited by 9 publications
(14 citation statements)
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“…2B). Furthermore, multiple techniques have been proposed for a simple and rapid manufacturing of such tensegrities structures providing a desirable feature for production and deployment of robotic swarms [22] [23]. Another useful feature of the tensegrity icosahedron network is the availability of an inner cubic volume not crossed by any cable or strut (Fig.…”
Section: Mechanical Designmentioning
confidence: 99%
“…2B). Furthermore, multiple techniques have been proposed for a simple and rapid manufacturing of such tensegrities structures providing a desirable feature for production and deployment of robotic swarms [22] [23]. Another useful feature of the tensegrity icosahedron network is the availability of an inner cubic volume not crossed by any cable or strut (Fig.…”
Section: Mechanical Designmentioning
confidence: 99%
“…In order to greatly simplify and expedite the process of assembly we developed a modular elastic prototyping platform for tensegrity robots [2]. The TT-4 mini , a six-bar spherical tensegrity robot, was the first tensegrity robot assembled using this new prototyping platform and can be rapidly assembled in less than an hour by a single person.…”
Section: Six-bar Tensegrity Robot Using Modular Elastic Lattice mentioning
confidence: 99%
“…The TT-4 mini robot was rapidly constructed using a novel modular elastic lattice tensegrity prototyping platform [2], which allows for rapid hardware iterations and experiments. * This work presents the simulation results of inclined uphill locomotion for a six-bar spherical tensegrity robot as well as the prototyping and hardware experiments performed to validate these results.…”
Section: Introductionmentioning
confidence: 99%
“…The geometrical analysis of tensegrity mechanisms has been substantially researched (Roth and Whiteley, 1981 ; Connolly and Back, 1998 ; Schenk, 2006 ; Skelton and de Oliveira, 2009 ). However, prototyping of tensegrity structures remains tedious and time-consuming (Kim et al, 2014 ; Chen et al, 2017a ). This is due to the complexity of geometric morphologies that are challenging to visualize and requirement of prestress in the cables.…”
Section: Introductionmentioning
confidence: 99%
“…This is due to the complexity of geometric morphologies that are challenging to visualize and requirement of prestress in the cables. Currently, the design methodologies utilize jigs, multiple sets of hands and precise fabrication to achieve symmetric cable tension and link compression (Böhm et al, 2016 ; Chen et al, 2017a ; Kim et al, 2017 ; Cera and Agogino, 2018 ). Recently, planar-to-three-dimensional solutions have been explored using flexible lattice networks which are excellent for fabricating known morphologies which may not be altered post-assembly (Chen et al, 2017a ; Zappetti et al, 2017 ).…”
Section: Introductionmentioning
confidence: 99%