MOBILE TENSEGRITY ROBOT WITH REACTION WHEEL FOR ENHANCED IMPACT RESISTANCE

Abstract

This project aims to develop a robot capable of self-balancing and moving via an integrated gyroscope as well as resistant to high forces due to the tensegrity limbs. The work includes designing the structure of the flywheel and robot carcass, selecting metal and elastic component materials. The robot’s structure is fabricated with lightweight aluminum, polylactic acid plastic (PLA), silicone rubber. Its actuation system consists of brushless DC electric motor (BLDC), smart actuators, and a Control Moment Gyroscope (CMG) for real-time position and orientation control. Validation includes physical testing of locomotion and design simulations. The novelty of this work is the combination of elastic tensegrity structures with the gyroscope for increased durability and flexibility. This research advances the development of a robust, agile mobile robot capable of adaptive orientation and navigation in complex environments. Theoretically, it introduces a novel design enabling the robot to withstand falls from up to 1 meter by dynamically reorienting during descent to land on its legs without damage—a capability unattainable by robots with conventional mechanical structures. Practically, despite current hardware limitations, the prototype employs a control moment gyroscope to achieve rotational and translational movement without actuating the wheels on its legs, demonstrating potential applications in exploration, disaster response, and autonomous systems.