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Design and research on a novel jumping robot based on 3-rod and 6-cable multistable tensegrity
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DOI：10.1088/1361-665X/ae5518.png)
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Abstract
En 中文
Traditional robots and existing tensegrity robots generally face a difficult trade-off among movement speed, energy efficiency, and control complexity in practical applications. To address this issue, this paper proposes a novel jumping robot based on a 3-rod and 6-cable multistable tensegrity structure. A method for finding multiple stable configurations and a tracking algorithm for stable-state transformation (SST) are proposed. In the numerical example of the 3-rod and 6-cable structure, the algorithm successfully found four stable states. Based on symmetry, two of these states were selected for analysis. The results show that during SST, a small amount of energy input (3.43 N & centerdot; mm) can trigger a large amount of energy output (192.33 N & centerdot; mm), achieving a trigger amplification ratio of up to 56 times. It means that a low-power, high-endurance motor can be used to drive a system capable of producing immense explosive force. Leveraging this hyper-efficient energy release, a jumping robot was designed and evaluated through Adams dynamic simulation and physical prototype experiments. The robot achieved jump heights of 65 mm in simulation and 85 mm in experiment. These results validate the proposed design, offering a new path toward the development of robotic systems that require explosive, high-power-density movements.
Keywords:
multistable tensegrity
jumping robot
stable state transformation
dynamic simulation
prototype experiment
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