Robotic Assembly Planning of Tensegrity Structures

Birzhan Nurimbetov, Margulan Issa, Huseyin Atakan Varol

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Tensegrity structures provide durability and stability with minimal weight. Thanks to these properties, use of tensegrity structures for space applications is becoming an active research area. One of the main challenges is the automated construction of these structures. In this work, we present a framework for the automated assembly planning of tensegrity structures using an industrial robot equipped with a purpose-specific end-effector. We leverage the recent advances in sampling-based motion planning to create the motion strategies. Specifically, we divided the assembly planning problem into three stages. In the first stage, the initial position and orientation of the given tensegrity structure with respect to the assembly robot is determined using a motion-planning integrated forward elimination search. In the second stage, a feasible assembly sequence of the strings is found using backward disassembly search. Lastly, the individual robot motion plans for attaching each string to the bars for the given tensegrity configuration is generated using RRT∗. The efficacy of the framework was demonstrated using an extensive set of simulation experiments dealing with the assembly of a three-strut and nine-string tensegrity prism structure, which can be utilized as a building block of complex tensegrities.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538636152
Publication statusPublished - Apr 25 2019
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: Jan 14 2019Jan 16 2019

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019


Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering


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