Type synthesis of worm-like planar tensegrity mobile robot

Abstract

It is a tough task to figure out how to employ a small number of actuators to give a mobile robot multiple locomotion modes. This work suggested an unique type synthesis approach for tensegrity robots with few actuators and multi-locomotion mode by unit-splicing, focusing on robotic mechanisms and aiming at three locomotion modes that worms may realize (earthworm-like, inchworm, and tumbling locomotion). The static and deformation stability were used to screen out all of the tensegrity planar units that might achieve the desired locomotion modes. On this basis, traditional tensegrity structures are modified and springs are introduced in order to decrease the number of actuators. Then, all the tensegrity mechanisms that could be driven by two motors and realize the three locomotion modes were acquired by the splicing of units and merging of cables, and the value ranges of the parameters of robotic members that could satisfy the stability criteria were presented. Following the type synthesis results, a configuration was chosen, and a prototype was created. The experiment proved the viability of the type synthesis approach by demonstrating that the robot can implement the three locomotion modes with just two actuators.