Design of A Lightweight Robotic Tensegrity Morphing Airfoil

This paper explores the design and fabrication of a robotic airfoil based on a tensegrity morphing structure. We begin by introducing a family of tensegrity morphing airfoil designs that convert a continuous airfoil shape into a discrete configuration. The airfoil structure is divided into two main components: a rigid section (the D-section head) and a flexible section (the tensegrity morphing tail). We compute aerodynamic forces using the panel method and, based on the drag and lift analyses, propose a morphing airfoil design and develop its CAD model. This model integrates all essential electronics, including the battery, PCB board, and motors, within the rigid D-section. The flexible tail is actuated by strings, enabling adaptive morphing. Our approach integrates lightweight tensegrity principles with adaptive design to create efficient morphing airfoil structures. The methodology is also applicable to bio-inspired wings, robotic fingers, grippers, and other soft robotic systems.