Article | REF: S7817 V1

Tensegrity mechanisms for robotic manipulation

Authors: Quentin BOEHLER, Marc VEDRINES, Salih ABDELAZIZ, Philippe POIGNET, Pierre RENAUD

Publication date: November 10, 2018, Review date: April 12, 2021

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1. Definitions and benefits of tensegrity mechanisms

1.1 From tensegrity to tensegrity mechanisms

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1.1.1 Introduction

Tensegrities are mechanical assemblies made up of two types of elements: elements loaded in compression, usually called "bars", and elements loaded in tension, called "cables". These elements are connected at their ends by nodes, which ensure a spherical connection between them. The principle of tensegrity lies in the fact that the bars are held in compression within a network of tensioned cables. A spatial tensegrity known as "T3" is shown in figure...

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Definitions and benefits of tensegrity mechanisms

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Modeling and simulation

Bibliography

(1) - MOTRO (R.) - Tensegrity: Structural Systems for the Future. - Elsevier (2003).
(2) - SKELTON (R. E.), HELTON (J. W.), ADHIKARI (R.), PINAUD (J.), CHAN (W.) - An Introduction to the Mechanics of Tensegrity Structures, - in The Mechanical...

Software tools

NASA Tensegrity Robotics Toolkit (NTRTsim), OpenSource software: https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim (page consulted on January 31, 2018)