Design of a Hybrid Robot Based on a Tensegrity Structure

ABSTRACT This study introduces a new type of tensegrity variable‐diameter robot that can change the diameter of the wheels. A modified tensegrity structure is designed by substituting the elastic members in traditional two‐bar, three‐cable tensegrity systems with equivalent components. Based on this, the basic unit structure, unit connection method, and the optimal number of wheel hubs for the robot are determined. Using the principle of minimal potential energy, we determine the key structural parameters and the expansion‐to‐contraction ratio of the robot unit. To address structural limitations and improve the robot's performance, we present methods for limiting the degrees of freedom of the robot along with the corresponding incorporation of elastic components. The integration of elastic components provides shock absorption capability. The robot can adjust its wheel diameter according to varying terrain conditions. Experimental results demonstrate the robot's adaptability to diverse terrains and its ability to overcome obstacles. This study contributes to the advancement of robotic versatility and expands the potential application areas of hybrid robotic systems.