Design, Mathematical Modelling and Analysis of Externally Actuated Somersaulting Tensegrity Spine

摘要

The application of tensegrities in the field of robotics and space exploration is an upcoming field of study. Tensegrities are widely appreciated in the field of civil engineering, due to their mechanical versatility to handle various kinds of loads, while remaining as light as possible. This paper proposes to design the topology of a tensegrity spine, with an aim of achieving somersault motion, for traversing through unknown terrains. A simplified mathematical model is developed to approach the equations of motion. Generalised mathematical formulations for dynamic analysis of n-body tensegrity spine is generated. This formulation is implemented in the MATLAB environment and solved using Runge-Kutta methods to understand the static and dynamic response of the structure.