Abstract
Tensegrity robots, which are famous for their light weight and high adaptability, have unique potential applications in space exploration and task execution in complex environments. In this paper, a new type of tensegrity robot containing springs is introduced and analysed. The kinematic and static problems of the tensegrity robot are solved using the law of minimum energy. The accessible workspace of the tensegrity robot is calculated using a numerical method according to the kinematic and static model. In addition, the feasible force space, which is the collection of external forces that can be applied to the tensegrity robot in a certain equilibrium configuration, is derived and verified using a particular tensegrity robot as an example.
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