Six-bar Pulley-Guided Node Based Prismatic Tensegrity Robot Form-finding Analysis and Experiment

This study offers a unique analysis of node-based tensegrity robots guided by pulleys. Tensegrity structures comprise some compressive and tensile members, which provide a lightweight and flexible body. The primary goal of this research is to show how reducing friction in tensegrity robots through the use of pulley-guided nodes can enhance their form-finding capabilities, as demonstrated by experimental evidence. The proposed new pulley-based node design reduces friction between wires and rigid components, thereby improving the form-finding ability of the robots.