40個の空気圧アクチュエータで駆動する冗長テンセグリティロボットアーム

抄録

In this study, we develop a tensegrity manipulator driven by 40 pneumatic cylinders without mechanical springs. In general, tensegrity robots use mechanical springs to achive a stable and curved tensegrity structure even when a component is actively extended and re tracted by an actuator. The stiffness of the mechanical spring should be high to increase the stiffness of the entire structure and imporve the control response, but low to deform the structure. This means that the implementation of mechanical springs causes serious trade-offs in its design and contorl. In this study, we use pneumatic cylinders not only for active deformation but also for passive deformation to realize a tensegrity robot without mechanical springs. In this paper, we introduce the robot’s design, control system and the result of posture change experiment.