Static Analysis of Six Bar Tensegrity Ball Structure Robot

Abstract

All pre-stressed structures called as tensegrity structures have been introducing into robotics, modern architectural designs, and medical necessities called as bio-tensegrity, space structure alternates, and many other emerging technologies because of its numerous useful properties.  Six bar tensegrity ball robot structure has essential importance in the field of robotics due to its deployable, movable, deformable, and easily controllable capabilities. This structure has 6 rigid bars (in compression) and 24 flexible strings (in tension) that are connected in such a 12 nodes arrangement that provides the highest spatial symmetrical shape to this structure among most of the tensegrity structure. In this paper, the internal forces of bars and strings on each node have been studied, and the force equation on every node has been developed. The position of each node has been validated. Furthermore, the balance of all bars and strings forces on the whole structure has been analytically verified to assure the structure remains statically pre-stressed under the zero net effect of all internal forces applied by bars and strings.