Basic Investigations on a Compliant 2D Tensegrity Grid for the Use in Soft Robotic Applications

The use of compliant tensegrity grids in soft robotic applications is a promising research topic. By using these grids, systems with large shape and stiffness change ability can be realized. In this paper, different tensegrity grid variants, consisting of rigid members indirectly connected via compliant tensioned members, are presented. A selected grid variant is analyzed in more detail for shape adaptation. Therefore the use of the grid as end effector in form-fit grippers is selected as a specific application case. Covariance Matrix Adaptation Evolution Strategies are used to optimize actuators for two given shape function variants and an evaluation is carried out.