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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