Compliant Tensegrity Robotic Arm with Continuously Adjustable Stiffness for Versatile Operation

Abstract

This paper presents a compliant tensegrity robotic arm design that overcomes limitations related to stiffness variation and cascaded actuation. Due to the special design and actuation strategy, the system offers a large workspace using a small number of actuators and system parts. Key features include intrinsic compliance, enhanced stability in various configurations, and a modular tendon-driven actuation system that facilitates continuous stiffness adjustment for adaptive manipulation tasks. The system’s kinematics and actuation strategy are validated experimentally. Results demonstrate an increased workspace and precise control, offering potential applications in dynamic and human-interactive environments.