Simulation of a six-rod mobile tensegrity robot in MATLAB environment

The paper deals with the concept of tensegrity structures and applications thereof, particularly in mobile robotics. The authors considered a certain approach to the design of tensegrity robots, namely, iterative design based on an artificial intelligence algorithm using computer simulation. The focus is on an icosahedron-shaped six-rod tensegrity robot with three active rods fitted with electromechanical actuators at the ends and three passive rods. The robot has 24 elastic cables to maintain its structure; it also has six rigid cables whose contraction and release enable the robot to roll from one face to another by shifting its mass center. A platform carrying the payload is secured in the central part of the robot using elastic cables. A simulation model of a six-rod mobile tensegrity robot has been developed in the Simulink package of MATLAB environment using the Simscape Multibody library. One-step movement of the robot has been simulated. Conclusions have been drawn regarding the advantages and disadvantages of MATLAB application for tensegrity robot simulation and design compared to the other environments available.