Design of a Fully Pulley-Guided Wire-Driven Prismatic Tensegrity Robot: Friction Impact to Robot Payload Capacity: Design of a Fully Pulley-Guided Wire-Driven Prismatic Tensegrity Robot: Friction Impact to Robot Payload Capacity

Azamat Yeshmukhametov, Koichi Koganezawa

Research output: Contribution to journalArticlepeer-review

Abstract

The tensegrity structure was initially created as a static structure, but it has gained significant attention among robotics researchers due to its benefits, including high payload capability, shock resistance, and resiliency. However, implementing tensegrity structures in robotics presents new technical challenges, primarily related to their wire-driven structure, such as wire-routing and wire-friction problems.
Therefore, this research letter proposes a technical solution for the aforementioned problems. The main contribution of this research is the design of frictionless pulley-guided nodes. To validate the proposed concept, we conducted comparative experiments between a common tensegrity prototype and a pulley-guided prototype, evaluating wire tension distribution and payload capacity.
Original languageEnglish
Article number1
Number of pages8
JournalIEEE Robotics and Automation Letters
DOIs
Publication statusPublished - Aug 29 2023

Fingerprint

Dive into the research topics of 'Design of a Fully Pulley-Guided Wire-Driven Prismatic Tensegrity Robot: Friction Impact to Robot Payload Capacity: Design of a Fully Pulley-Guided Wire-Driven Prismatic Tensegrity Robot: Friction Impact to Robot Payload Capacity'. Together they form a unique fingerprint.

Cite this