Abstract
Various robots have been researched and invented along with improvement of actuators. However, large-scale robot is not possible to be built with ordinary robot structure which is based on a series of rigid links connected by actuated and passively compliant joints. Square-cube law confines the limitation of size. To make up more than 10m height robot, we apply Tensegric structure which is offspring of Tensegrity for the structure of the robot. In Tensegrity, form is achieved by using a disconnected set of rigid elements connected by a continuous network of tensile elements. Tensegrity structure is so light that the king size structure can be constructed neglecting the square-cube law. This paper introduces an idea of the structure of the modular tensegric parts which configure the massive size robot and proposes the determination way of the robot-arm configuration and the wire lengths in endpoints given by operators. In the way, configuration of the arm settled on coordinate is determined along with a quadratic function. We have created the program in MATLAB. The outline of the algorithm is shown and its effectiveness is investigated through computer simulation. The presented algorithm is successfully derived proper wire lengths for various configurations and its usefulness is confirmed.
