A mobile tensegrity robot driven by rolled dielectric elastomer actuators

Abstract

This paper presents a tensegrity-based mobile robot powered by dielectric elastomer actuators (DEAs), which provide high compliance and adaptability. The design consists of two V-shaped members linked by DEAs, enabling both symmetrical and asymmetrical actuation for varied movement patterns. Modal analysis and simulations show that uniform DEA actuation supports efficient linear motion, while asymmetrical actuation enables controlled circular paths. Experimental testing highlights the influence of voltage waveforms, frequencies, and surface types on speed, with optimal performance achieved using rectangular waveforms on low-friction surfaces. The robot reaches a top speed of 188 mm/s, among the highest reported for DEA-driven robots.