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15 April 2016 A reconfigurable robot with tensegrity structure using nylon artificial muscle
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This paper describes the design and experimental investigation of a self-reconfigurable icosahedral robot for locomotion. The robot consists of novel and modular tensegrity structures, which can potentially maneuver in unstructured environments while carrying a payload. Twisted and Coiled Polymer (TCP) muscles were utilized to actuate the tensegrity structure as needed. The tensegrity system has rigid struts and flexible TCP muscles that allow keeping a payload in the central region. The TCP muscles provide large actuation stroke, high mechanical power per fiber mass and can undergo millions of highly reversible cycles. The muscles are electrothermally driven, and, upon stimulus, the heated muscles reconfigure the shape of the tensegrity structure. Here, we present preliminary experimental results that determine the rolling motion of the structure.
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Lianjun Wu, Monica Jung de Andrade, Tarang Brahme, Yonas Tadesse, and Ray H. Baughman "A reconfigurable robot with tensegrity structure using nylon artificial muscle", Proc. SPIE 9799, Active and Passive Smart Structures and Integrated Systems 2016, 97993K (15 April 2016);

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