Deformation of a Tensegrity Structure Using Tendon Actuators

The tensegrity structure is made of some rigid bars and flexible wires, and can maintain its shape when the members of the structure are balanced. The tensegrity structure can be deformed by changing the lengths of its members. However, if each wire has one actuator, the number of actuators increase and the transforming mechanism becomes more complicated. In this paper, we suggest connecting wires to each other and reducing the number of the actuators used for transformation, and the leaning motion is studied. Configurations of the tensegrity structure and a stringing pattern of connected wires are shown. Then, a form-finding analysis is conducted to obtain bounds of valid shape of the tensegrity structure. A method for obtaining the deforming path of the tensegrity structure is suggested. Finally, a transforming experiment is conducted, and the leaning motion is demonstrated.