Compliant Robotic Arm based on a Tensegrity Structure with x-shaped Members

  • 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.

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Metadaten
Author:David Herrmann, Leon Schaeffer, Lukas SchmittORCiD, Wolfgang Körber, Lukas Merker, Lena Zentner, Valter BöhmGND
DOI:https://doi.org/10.1109/RoboSoft60065.2024.10521941
Parent Title (English):2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA. April 14-17, 2024
Publisher:IEEE
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2024
Release Date:2024/06/18
Tag:Geometry; Kinematics; Manipulators; Prototypes; Shape; Soft robotics; Three-dimensional displays
Pagenumber:1042
First Page:1047
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
research focus:Produktion und Systeme
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG