A Multimodal Self-Propelling Tensegrity Structure

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Tensegrity structures offer high stiffness-to-mass ratio and deployability.
• Active tensegrity designs show promise for soft robots but face limitations in controlled movement.
• Previous self-propelling structures lacked multimodal locomotion and easy reconfigurability.

Purpose of the Study:

• To develop a novel hybrid tensegrity structure (HTS) capable of autonomous locomotion.
• To achieve multimodal self-propelled movement in tensegrity-based robots.
• To create a modulable and reassemblable tensegrity robot for versatile applications.

Main Methods:

• Constructed a hybrid tensegrity structure integrating thermally responsive and nonresponsive cables with stiff rods.
• Utilized the structure's unique geometry to enable continuous self-propulsion on hot surfaces.
• Employed Velcro tapes for modular assembly and reassembly of the structure.

Main Results:

• The HTS demonstrated continuous self-propulsion on hot surfaces without external power control.
• Achieved easy realization of multimodal locomotive modes, a significant advancement over prior designs.
• Successfully created a modulable and reassemblable HTS, enhancing its practical utility.

Conclusions:

• The developed HTS presents a new strategy for self-propelling robots.
• The design offers a large design space for creating advanced, adaptable soft robots.
• This work overcomes limitations in controlled locomotion and reconfigurability for tensegrity robots.