Development of Pneumatically Driven Tensegrity Manipulator without Mechanical Springs

Yuhei Yoshimitsu,Kenta Tsukamoto,Shuhei Ikemoto,Yuhei Yoshimitsu,Kenta Tsukamoto,Shuhei Ikemoto

This paper reports a tensegrity manipulator driven by 40 pneumatic cylinders without mechanical springs. In general, tensegrity robots use mechanical springs to achieve a stable/curved tensegrity structure, and this is true even when a component extends/retracts with an actuator. The stiffness of the mechanical spring should be high to increase the stiffness of the entire structure and improve the...