Physical Scale Modeling of Tensegrity Robots
School Name
Governor's School for Science and Mathematics
Grade Level
12th Grade
Presentation Topic
Engineering
Presentation Type
Mentored
Abstract
The purpose of this research experiment was to find a reproducible method for scaling up tensegrity robots physically. Many of the tensegrity robots that have been previously designed have not been prototyped physically. They have only been simulated, due to complications that arise as they get larger. The reason behind this is that complications arise when tensegrity robots begin to get larger; the arms of the robot arms get larger and bulkier, and therefore more power is needed to move the robot. In this research experiment, the ultimate goal was to find a set of parameters that could remain the same over gradually larger models. The parameters that were chosen to be controlled were the bending moment of the tensegrity robot’s arms and the spring constant of the elastic that holds the arms together. Polylactic acid (PLA) was used to create the tensegrity robot’s arms, and a spring constant of 0.6253 kg/s2 was measured. These parameters were used successfully to double the size of the tensegrity robot by keeping constant the ratio of the bending moment of the arm to its elasticity.
Recommended Citation
Washington, Aika, "Physical Scale Modeling of Tensegrity Robots" (2018). South Carolina Junior Academy of Science. 55.
https://scholarexchange.furman.edu/scjas/2018/all/55
Location
Neville 109
Start Date
4-14-2018 9:00 AM
Presentation Format
Oral and Written
Physical Scale Modeling of Tensegrity Robots
Neville 109
The purpose of this research experiment was to find a reproducible method for scaling up tensegrity robots physically. Many of the tensegrity robots that have been previously designed have not been prototyped physically. They have only been simulated, due to complications that arise as they get larger. The reason behind this is that complications arise when tensegrity robots begin to get larger; the arms of the robot arms get larger and bulkier, and therefore more power is needed to move the robot. In this research experiment, the ultimate goal was to find a set of parameters that could remain the same over gradually larger models. The parameters that were chosen to be controlled were the bending moment of the tensegrity robot’s arms and the spring constant of the elastic that holds the arms together. Polylactic acid (PLA) was used to create the tensegrity robot’s arms, and a spring constant of 0.6253 kg/s2 was measured. These parameters were used successfully to double the size of the tensegrity robot by keeping constant the ratio of the bending moment of the arm to its elasticity.
