Design and Fabrication of a Deployable Tensegrity-Based Robotic Arm
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Sichen YuanDescription
The primary goal of this research is to conceptualize, design, fabricate, and deploy a robotic arm driven by the principles of tensegrity structures, providing a unique approach to robotic movement, flexibility, and adaptability. Tensegrity, a portmanteau of "tension" and "integrity", refers to structural systems that derive their stability from a balance between tension and compression components. In recent years, there has been a growing interest in applying the principles of tensegrity to the realm of robotics, primarily due to its potential advantages such as lightweight structures, increased flexibility, and adaptive resilience. Scope: Literature Review: Investigation of existing research related to tensegrity robotics, its principles, designs, and real-world applications. Conceptual Design: Development of initial designs and models for the robotic arm, keeping in mind the core principles of tensegrity. Prototyping: Fabricating small-scale models using materials such as elastic cords (for tension) and lightweight rigid rods (for compression). Control System Integration: Incorporating actuators and control systems to facilitate movement, taking into account the unique dynamics of a tensegrity structure. Testing and Evaluation: Evaluation of the robotic arm's functionality, adaptability, and resilience under various conditions and scenarios. Refinement: Based on the testing results, refining the design and control strategies to enhance performance.
Special Directions
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Special Skills
experience of metal part fabrication is preferred.