Mechanical Analysis of Multistage Tensegric Arm Aiming for Realization

Abstract

Multistage tensegric robot arm is already presented to realize gigantic robot over 10m height. In the previous research, advantage of multistage robot to ease stress is confirmed and its control algorithm is discussed. However, its mechanical property has not been investigated yet. This paper discusses about mechanical properties, namely stress on cables and yielding load of the arm body, is theoretically investigated. These results would be useful to design real gigantic multistage robot arm.