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Table 4 Tensegrity spine test 2

From: Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts

 

1

2

3

4

5

6

   

Up

Down

Left

Right

T2H1

10%

10%

20%

10%

20%

10%

T2H2

10%

10%

25%

15%

10%

20%

T2H3

10%

10%

8%

20%

0%

30%

T2H4

10%

10%

30%

30%

40%

20%

T3H1

10%

10%

30%

20%

25%

10%

T3H2

19%

15%

30%

20%

20%

30%

T3H3

25%

18%

20%

40%

10%

35%

T3H4

15%

18%

20%

30%

30%

10%

T1V1

5%

5%

0%

0%

0%

10%

T1V2

0%

0%

0%

0%

10%

0%

T2V1

20%

20%

10%

0%

0%

10%

T2V2

10%

10%

0%

0%

10%

0%

T2V3

10%

10%

0%

10%

0%

0%

T2V4

11%

11%

20%

0%

10%

5%

T3V3

10%

10%

0%

10%

0%

0%

T3V4

9%

9%

10%

0%

0%

0%

T

0

0

1.9

1.7

2.1

2.1

  1. Runs 1 and 2 have no actuation. Runs 3–6 have a cable actuator in order to bend the tensegrity spine up, down, left, and right. Tension of actuator T(N)
  2. Displacement of rubber shown as percentage of original length