多段テンセグリックロボットアームの３次元挙動に関する研究

抄録

Building a gigantic robot with ordinary structure is difficult because of the Square-cube law. Tensegric structure could be a suitable solution of building such gigantic robot. This paper deals with a novel robot arm based on the idea of Multi-Stage Tensegric structure. Two-dimensional Tensegric arm model taking the shape of frame and connecting wires into account is already presented, while three-dimentional behavior has not been investigated yet. Two type of wire tensioning are discussed, parallel or cross tensioning. Numerical simulation is carried out. It is shown that cross tensioning can ease wire stress than parallel tensioning.