Structure of the ball tensegrity robot

A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we solve for the internal force density matrix of the tensegrity structure. Consideration yielding failure and buckling failure constraints, minimal mass of total structure is computed. The internal force density of the members is optimized to get the minimal mass. And minimal radii of members are derived. Simulation and physical structure test mode are made.