TY - CHAP A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Schmitt, Lukas A1 - Körber, Wolfgang A1 - Merker, Lukas A1 - Zentner, Lena A1 - Böhm, Valter T1 - Compliant Robotic Arm based on a Tensegrity Structure with x-shaped Members T2 - 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA. April 14-17, 2024 N2 - The use of intrinsically compliant tensegrity structures in manipulation systems is an attractive research topic. In this paper a 3D compliant robotic arm based on a stacked tensegrity structure consisting of x-shaped rigid members is considered. The rigid members are interconnected by a net of prestressed, tensioned members with pronounced intrinsic elasticity and by inelastic tensioned members. The system's motion is achieved by length-change of the inelastic tensioned members. The operating principle of the system is discussed with the help of kinematic considerations and verified by experiments. KW - Geometry KW - Three-dimensional displays KW - Shape KW - Prototypes KW - Kinematics KW - Soft robotics KW - Manipulators Y1 - 2024 U6 - https://doi.org/10.1109/RoboSoft60065.2024.10521941 SP - 1047 PB - IEEE ER - TY - GEN A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Schmitt, Lukas A1 - Körber, Wolfgang A1 - Merker, Lukas A1 - Zentner, Lena A1 - Böhm, Valter T1 - Design, Erprobung und Vergleich von zwei Manipulatoren auf Basis von nachgiebigen Tensegrity-Strukturen T2 - 10. IFToMM D-A-CH Konferenz 2024: 05./06. März 2024, Universität Rostock N2 - Kurzfassung des Tagungsbeitrags. T2 - Design, test and comparison of two manipulators based on compliant tensegrity-structures Y1 - 2024 UR - https://nbn-resolving.org/urn:nbn:de:hbz:465-20240304-095947-9 U6 - https://doi.org/10.17185/duepublico/81587 ER -