Tensegrity-Inspired Joint Can Protect from Impacts by Isolating

Walter J, Rothfischer L, Stierstorfer R, Nemoto T, Franke J, Reitelshöfer S (2023)

Publication Type: Conference contribution

Publication year: 2023

Publisher: Springer Science and Business Media B.V.

Book Volume: 132

Pages Range: 344-354

Conference Proceedings Title: Mechanisms and Machine Science

Event location: Nantes, FRA

ISBN: 9783031323218

DOI: 10.1007/978-3-031-32322-5_28

Abstract

Cable-driven parallel robots are known for their highly dynamic motions. At the same time, tensegrity robots are considered to be robust due to their intrinsic compliance. In a previous work, it was shown that a cable-driven joint with a tensegrity-inspired design allows fast rotations. The question remains whether such a joint is not only fast, but could also protect its base link from impacts due to its special design. In this paper, it is shown that a tensegrity-inspired joint can protect from impacts by isolating. A hardware prototype of such a joint was loaded with a modal hammer. It was found that the joint isolates impact forces up to 83%, demonstrating its ability to effectively absorb and dissipate energy from external impacts. Putting the results in a more general context, such a joint, however, can be used not only (a) passively to protect a base link, but also (b) actively for high-speed motions of a follower link by pulling a lightweight mass with parallel attached and actuated cables. It is anticipated that this study could be a starting point for the creation of novel robotic kinematics, composed of conventional and tensegrity kinematics, to build fast and robust robots.

Authors with CRIS profile

Jonas Walter Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Richard Stierstorfer Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Takeru Nemoto Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Sebastian Reitelshöfer Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)

How to cite

APA:

Walter, J., Rothfischer, L., Stierstorfer, R., Nemoto, T., Franke, J., & Reitelshöfer, S. (2023). Tensegrity-Inspired Joint Can Protect from Impacts by Isolating. In Stéphane Caro, Andreas Pott, Tobias Bruckmann (Eds.), Mechanisms and Machine Science (pp. 344-354). Nantes, FRA: Springer Science and Business Media B.V..

MLA:

Walter, Jonas, et al. "Tensegrity-Inspired Joint Can Protect from Impacts by Isolating." Proceedings of the 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023, Nantes, FRA Ed. Stéphane Caro, Andreas Pott, Tobias Bruckmann, Springer Science and Business Media B.V., 2023. 344-354.

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