The 2D Workspace Analysis of a Tensegrity Robotic Arm

Abstract

Tensegrity structures are known for their stability, which is achieved through continuous tension and unique compression elements. These features make them extremely useful in robotics as they offer benefits like lightness, adaptability, and resilience. The main goal of this study is to define a reachable workspace of a robotic arm made up of multiple 3-bar prism modules. We start by exploring the basic ideas of tensegrity and its importance in robotics. This path will provide us with both a deep understanding and advanced knowledge of the mathematical concepts that form the basis of tensegrity structures. Following this, the project will move into a detailed examination of the workspace of a single T-bar prism module. This is essential for grasping the more complex workspace of the entire multi-prism robotic arm system. The analysis phase includes identifying all the possible positions within the 2D workspace that the robotic arm can reach. This requires the use of mathematical models and simulations to visualize and measure the arm’s spatial abilities.