Bistability in Tensegrity Structures with Plate Compressors

Abstract

This paper represents a bistable tensegrity structure that can deform significantly from the folded shape to the concave shape using plate-like compressive materials. We found that a bistable structure appears when the plate thickness changes. To verify the bistability by the elastic potential energy stored in the structure, a mechanical simulator that can reproduce the tensegrity structure’s motion was developed using 3D-CAD. The mechanical simulator demonstrates bistability is verified from the change in elastic potential energy between the two shapes. We also confirm that the tensegrity prototype is stable in both folded and open shapes. We consider that the energy stored when folded can be utilized for applications such as jumping robots.