Robotic Construction of Tensegrity Structures
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Date
2017-04
Authors
Issa, Margulan
Journal Title
Journal ISSN
Volume Title
Publisher
Nazarbayev University School of Science and Technology
Abstract
Tensegrity based design is emerging as an active research field. Tensegrity structures
can be constructed with minimal weight compared to the traditional ones. They can
also have stability and durability without relying on gravity. These merits make them
ideal for the construction of orbital structures such as space stations. Even though
the researchers have recently crafted elegant theories for the statics and dynamics of
tensegrity, there are many hurdles for their active utilization in space construction.
Due to the need for attaching strings in complex geometries and precise tensioning of
these, the labor and skill intensive construction of these tensegrities in space cannot
be accomplished by humans. With recent advances in robotics especially in embedded
computing, sensing and motion planning, robots can be summoned to tackle the
automated construction problem of tensegrities. To the best of the author’s knowledge,
an automated construction framework for tensegrities does not exist. This
thesis focuses on this problem. Firstly, we describe our assembly-friendly tensegrity
struts with integrated strings and tensioners. Secondly, we present the development
and implementation of a specialized robot end-effector for tensegrity construction.
This end-effector with embedded sensors and computation is capable of measuring
the string tension based on vibration frequency, attaching/detaching strings and also
tensioning them. Using these components, we developed a framework for robotic
construction of tensegrity structures. We show the efficacy of our framework by realworld
experiments. In particular, we constructed a 3-strut and 9-string tensegrity
prism which can serve as a building block for more complex structures.
Description
Keywords
Robotic Construction
Citation
Margulan Issa. Robotic Construction of Tensegrity Structures. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University