Transformation experiment of a tensegrity structure using wires as actuators

The tensegrity structure is made of 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. Configurations of the tensegrity structure and a stringing pattern of connected wires are shown. Then, a method for obtaining the deforming path of the tensegrity structure is suggested. Finally, transforming experiments are conducted. When all actuators are applied to the velocity control method, the wires´ axial loads tend to focus on a part of the actuators and the current value is beyond the theoretical value. Then, we can reduce the focused current load by combining the velocity control method and the current control method.