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An Open-source, Reproducible System for Tensegrity Navigation Among Obstacles
Hardware Overview
Hardware Overview
Tribar is an untethered three-bar tensegrity robot driven by six electric motors. Many parts are commercial-off-the-shelf components listed in this Bill of Materials. For the custom-made parts, detailed fabrication instructions are given in our guide to assembling the robot. The open-source designs of the mechanical components are available on GrabCAD. The circuit board designs in EAGLE are available on GitHub. Browse the pages below to learn more.
A compact, custom motherboard hosts commercial PCBs for controlling the tensegrity robot.
The three-bar tensegrity robot is made from COTS components and 3D printed parts.
Capacitive strain sensors are used to measure the tendons’ lengths for feedback control.
This site is dedicated to the open-source tensegrity robot platform. The design details for the other two platforms we use in the paper can be found in previous work and in this document, respectively.
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