Jumping robot based on three-rod six-cable multistable tensegrity

Abstract

The invention provides a jumping robot based on a three-rod six-cable multistable stretch-draw whole. The jumping robot comprises a guide rail, a sliding block, two motors, two connecting rods and six elastic pieces. The sliding block is arranged on the guide rail in an up-down sliding manner; the near ends of the two connecting rods are hinged to the sliding block, and the far ends are arranged on the two sides of the guide rail respectively. Wherein two elastic pieces are connected with the far ends of the two connecting rods and the upper end of the guide rail, one elastic piece is connected with the upper end of the sliding block and the upper end of the guide rail, and the other elastic piece is connected with the lower end of the sliding block and the lower end of the guide rail. Output shafts of the two motors are provided with wire shafts, one motor is arranged at the upper end of the guide rail and connected with the wire shaft and the upper end of the sliding block through a connecting wire, and the other motor is arranged at the lower end of the guide rail and connected with the wire shaft and the lower end of the sliding block through a connecting wire. A design thought based on a multistable stretch-draw integral structure is adopted, and instant efficient release of pre-stored elastic potential energy is achieved through instant transition of the structure among a plurality of stable balance states.

Description

Technical Field

[0001] The invention relates to a multi-stable tensegrity jumping robot technology, in particular to a jumping robot based on a three-rod and six-cable multi-stable tensegrity. Background Art

[0002] With the increasing application of robotics in fields such as aerial exploration and disaster relief, jumping robots capable of efficient energy conversion and rapid maneuverability have become a research hotspot. Existing jumping robots primarily rely on spring energy storage or pneumatic actuation to achieve jumping motions. However, these robots still have significant shortcomings in terms of energy release efficiency and continuous jumping performance, making it difficult to meet the high jumping height and stability requirements of practical applications.

[0003] The Salto-1P jumping robot, developed at the University of California, Berkeley, uses internal spring energy storage to propel it, achieving its jumping motion through the gradual release of elastic potential energy. While the Salto-1P exhibits a certain degree of dynamic stability in continuous jumping, its energy conversion process suffers from issues such as insufficient release, a limited number of consecutive jumps, and insufficient takeoff stability. This is primarily due to the inability to release energy instantaneously within a very short timeframe, which limits its jumping height and efficiency. Reference: Haldane DW, Yim JK, Fearing RS. Repetitive extreme-acceleration (14-g) spatial jumping with salto-1P[C] / / 2017 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, BC: IEEE, 2017: 3345-3351. Summary of the Invention

[0004] In order to solve the deficiencies in the above-mentioned prior art, the present invention provides a jumping robot based on a three-rod and six-cable multi-stable tensegrity system, comprising a guide rail, a slider, two motors, two connecting rods and six elastic parts. The elastic parts can be made of lightweight and elastic materials, such as tension springs, rubber ropes, etc.

[0005] In use, the guide rail is vertically arranged, and the slider is slidably mounted on the rail. Two connecting rods are hinged at their proximal ends to the slider, with their distal ends positioned on either side of the rail. Two elastic members connect the distal ends of the two connecting rods to the upper end of the guide rail, and two elastic members connect the distal ends of the two connecting rods to the lower end of the guide rail. The two connecting rods have equal effective lengths. One elastic member connects the upper end of the slider to the upper end of the guide rail, and one elastic member connects the lower end of the slider to the lower end of the guide rail.

[0006] The output shafts of both motors are equipped with bobbins. One motor is located at the upper end of the guide rail, with a connecting wire connecting the bobbin to the upper end of the slider. The other motor is located at the lower end of the guide rail, with a connecting wire connecting the bobbin to the lower end of the slider. The lower end of the slider is equipped with a connecting post. When the slider is in its highest position, the lower end of the connecting post is outside the guide rail, allowing it to contact the contact surface.

[0007] The four elastic members connecting the connecting rods have equal initial lengths, and the elastic member connecting the upper end of the slider has a shorter initial length than the elastic member connecting the lower end. A motor at the upper end of the guide rail is driven to extend the connecting wires, while a motor at the lower end is driven to shorten the connecting wires, thereby pulling the slider downward along the guide rail. When the slider reaches a predetermined position, the three-bar, six-cable multi-stable tensegrity structure rapidly transitions from a high-stable state to a low-stable state. During this process, pre-stored elastic potential energy is instantly released, and the rapid movement of the slider within the guide rail provides upward kinetic energy for the structure, thereby driving the robot to jump. The motor at the upper end of the guide rail is then driven to shorten the connecting wires, while the motor at the lower end is driven to lengthen the connecting wires, thereby pulling the slider upward along the guide rail. When the slider reaches a predetermined position, i.e., the transition point during the jump process, the three-bar, six-cable multi-stable tensegrity structure rapidly transitions from a low-stable state to a high-stable state, restoring the robot to its initial state for the next jump.

[0008] In the high steady state, the length of the two elastic parts connecting the upper end of the guide rail and the connecting rod is greater than the length of the two elastic parts connecting the lower end of the guide rail and the connecting rod, the length of the elastic part connecting the upper end of the slider is less than the length of the elastic part connecting the lower end of the slider, and the height of the proximal end of the connecting rod is higher than the distal end; in the low steady state, the length of the two elastic parts connecting the upper end of the guide rail and the connecting rod is less than the two elastic parts connecting the lower end of the guide rail and the connecting rod, the length of the elastic part connecting the upper end of the slider is greater than the length of the elastic part connecting the lower end of the slider, and the height of the proximal end of the connecting rod is lower than the distal end.

[0009] Furthermore, a support foot is provided at the lower end of the connecting column for increasing the contact area, so that the contact between the device and the ground is more reliable.

[0010] Furthermore, there are two connecting columns, which are respectively arranged on both sides of the slider corresponding to the two connecting rods; the lower ends of the two connecting columns are connected to the same supporting foot, making the device as a whole more stable.

[0011] Furthermore, the guide rail is provided with an open sliding groove, and the two side walls of the sliding groove are provided with inner recesses; the cross-sectional shape of the slider is adapted to the sliding groove; the two connecting columns are respectively provided with outer protrusions adapted to the inner recesses of the two side walls of the sliding groove, and sliding parts adapted to the side walls corresponding to the opening part of the sliding groove, so that the sliding process is more stable.

[0012] Furthermore, a first hinge column is provided in the middle of the slider, a hinge portion is provided at the proximal end of the connecting rod, and the hinge portion is provided with a hinge hole adapted to the first hinge column. The hinge portions of the two connecting rods are staggered so that the two connecting rods are on the same plane, thereby making the operation of the device more stable.

[0013] Furthermore, the upper and lower ends of the slider are each provided with an arc-shaped internal perforation for connecting the connecting wire. The arc-shaped internal perforation is located inside the slider, with the entrance and exit of the arc-shaped internal perforation located on the corresponding slider end surfaces. By placing the position for securing the connecting wire inside the slider, the slider's range of motion is increased. The arc-shaped inner wall avoids sharp corners or edges, reducing friction between the wire and the hole wall during insertion, guiding the wire to bend naturally, avoiding localized stress concentration and reducing the risk of wire breakage caused by repeated friction or bending. During binding, the wire naturally conforms to the surface of the object along the arc-shaped path, increasing the contact area between the wire and the hole wall, more evenly distributing friction, and making the binding point more secure. Regarding the stress level, because the entire model is relatively small, a conventional design with a relatively thin overhanging ring would concentrate the pulling force at the base of the ring's connection to the object, which could easily lead to fatigue damage or disengagement due to repeated stress. However, the arc-shaped internal perforation reduces localized stress concentration and distributes the pulling force throughout the entire arc-shaped hole path of the object.

[0014] Furthermore, the connecting rod also includes a connecting piece, which includes a connecting portion, and connecting rings for connecting the elastic member are provided at both ends of the connecting portion. The far end of the connecting rod is provided with a mounting hole adapted to the connecting portion. The connecting portion is arranged in the mounting hole, and the two connecting rings are arranged outside the mounting hole, which can effectively reduce the space required for fixing the elastic member and is conducive to the miniaturization of the device.

[0015] Furthermore, the motor is arranged on the outer wall of the guide rail on the side opposite to the opening of the sliding groove, a through hole is provided at the bottom of the sliding groove, and the bobbin is arranged in the sliding groove. The through hole is used for the bobbin transmission to be connected to the motor. Specifically, the output shaft of the motor can be passed through the through hole to connect the bobbin, or the bobbin and the motor can be connected through other transmission elements.

[0016] Furthermore, the upper end of the guide rail is provided with a second connecting post at the bottom of the sliding groove, and the elastic member connecting the connecting rod and the upper end of the rail is connected to the second connecting post. The upper end of the slider is provided with a third connecting post, and the ends of the elastic member connecting the upper end of the slider are connected to the second connecting post and the third connecting post. The lower end of the guide rail is provided with a fourth connecting post at the bottom of the sliding groove, and the elastic member connecting the connecting rod and the lower end of the rail is connected to the fourth connecting post. The lower end of the slider is provided with a fifth connecting post, and the ends of the elastic member connecting the lower end of the slider are connected to the fourth connecting post and the fifth connecting post. Each connecting post can be fixed to the device with bolts using suitable threads, which reduces the overall production cost while also allowing the use of bolts of appropriate sizes to promote miniaturization of the device.

[0017] Furthermore, the spool is arranged at the bottom of the sliding groove and between the slider and the corresponding second connecting column / fourth connecting column, so that the transmission process is more stable.

[0018] Compared to existing technologies, the jumping robot of the present invention adopts a design concept based on a multi-stable tensegrity structure, utilizing the structure's instantaneous transitions between multiple stable equilibrium states to achieve the instantaneous and efficient release of pre-stored elastic potential energy. This design not only provides sufficient take-off power under low driving force and short stroke conditions, but also effectively reduces the overall weight of the machine by leveraging the lightweight and highly flexible characteristics of the tensegrity structure. During landing, the flexible deformation of the structure absorbs impact, improving jumping stability. Furthermore, the present invention uses a single axial drive to apply force to key nodes, thereby significantly simplifying the control system, reducing energy consumption and manufacturing costs, and possessing significant practical advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is an overall schematic diagram of the present invention; Figure 2 It is a schematic diagram of the high steady state of the present invention; Figure 3 is a schematic diagram of the low steady state of the present invention; Figure 4 is a schematic diagram of the guide rail of the present invention; Figure 5 is a schematic diagram of a connecting column in the present invention; Figure 6 is a schematic diagram of the connecting rod in the present invention; Figure 7 It is a process schematic diagram of the present invention; In the figure: 1. Guide rail; 2. Slider; 3. Motor; 4. Connecting rod; 5. Elastic member; 6. Spool; 7. Connecting wire; 8. Connecting column; 9. Support foot; 10. Sliding groove; 11. Inner recess; 12. Outer protrusion; 13. Sliding portion; 14. First hinge column; 15. Hinge portion; 16. Hinge hole; 17. Arc-shaped inner through hole; 18. Connecting member; 19. Connecting portion; 20. Connecting ring; 21. Mounting hole; 22. Through hole; 23. Second connecting column; 24. Third connecting column; 25. Fourth connecting column; 26. Fifth connecting column. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0022] See also Figure 1-3 The jumping robot based on the three-rod and six-cable multi-stable tensegrity of this embodiment includes a guide rail 1, a slider 2, two motors 3, two connecting rods 4 and six elastic members 5. The elastic members 5 of this embodiment are tension springs.

[0023] In use, guide rail 1 is vertically arranged, and slider 2 is slidably mounted on guide rail 1. Two connecting rods 4 are hinged at their proximal ends to slider 2, with their distal ends positioned on either side of guide rail 1. Two elastic members 5 connect the distal ends of the two connecting rods 4 to the upper end of guide rail 1, and two elastic members 5 connect the distal ends of the two connecting rods 4 to the lower end of guide rail 1. The two connecting rods 4 have equal effective lengths. One elastic member 5 connects the upper end of slider 2 to the upper end of guide rail 1, and one elastic member 5 connects the lower end of slider 2 to the lower end of guide rail 1.

[0024] The output shafts of both motors 3 are provided with bobbins 6. One motor 3 is provided at the upper end of the guide rail 1, with a connecting wire 7 connecting the bobbins 6 to the upper end of the slider 2. The other motor 3 is provided at the lower end of the guide rail 1, with a connecting wire 7 connecting the bobbins 6 to the lower end of the slider 2. A connecting post 8 is provided at the lower end of the slider 2. When the slider 2 is at its highest position, the lower end of the connecting post 8 is located outside the guide rail 1, and is used to contact the contact surface.

[0025] The four elastic members 5 connecting the connecting rods 4 initially have equal lengths, and the elastic member 5 connecting the upper end of the slider 2 has a shorter initial length than the elastic member 5 connecting the lower end of the slider 2. Driving the motor 3 at the upper end of the guide rail 1 causes the connecting wire 7 to extend, while driving the motor 3 at the lower end of the guide rail 1 causes the connecting wire 7 to shorten, thereby pulling the slider 2 downward along the guide rail 1. When the slider 2 moves to the predetermined position, the three-bar, six-cable multi-stable tensegrity structure rapidly transitions from a high-steady state to a low-steady state. During this process, pre-stored elastic potential energy is instantly released, and the rapid movement of the slider 2 within the guide rail 1 provides the structure with upward kinetic energy, thereby driving the robot to achieve a jumping motion. Then, the motor 3 at the upper end of the guide rail 1 is driven to shorten the connecting wire 7, and the motor 3 at the lower end of the guide rail 1 is driven to extend the connecting wire 7, thereby pulling the slider 2 to move upward along the guide rail 1; when the slider 2 moves to the predetermined position, that is, the steady-state transition point of the jumping process, the three-bar six-cable multi-stable tensegrity structure quickly switches from a low steady-state to a high steady-state, so that the robot returns to its initial state to facilitate the next jump.

[0026] In the high steady state, the length of the two elastic parts 5 connecting the upper end of the guide rail 1 and the connecting rod 4 is greater than the length of the two elastic parts 5 connecting the lower end of the guide rail 1 and the connecting rod 4, the length of the elastic part 5 connecting the upper end of the slider 2 is less than the length of the elastic part 5 connecting the lower end of the slider 2, and the height of the proximal end of the connecting rod 4 is higher than the distal end; while in the low steady state, the length of the two elastic parts 5 connecting the upper end of the guide rail 1 and the connecting rod 4 is less than the length of the two elastic parts 5 connecting the lower end of the guide rail 1 and the connecting rod 4, the length of the elastic part 5 connecting the upper end of the slider 2 is greater than the length of the elastic part 5 connecting the lower end of the slider 2, and the height of the proximal end of the connecting rod 4 is lower than the distal end.

[0027] In this embodiment, the lower end of the connecting column 8 is preferably provided with a support foot 9 to increase the contact area, thereby ensuring more reliable contact between the device and the ground. Two connecting columns 8 are provided, one on each side of the slider 2 corresponding to the two connecting rods 4; the lower ends of the two connecting columns 8 are connected to the same support foot 9, making the device more stable.

[0028] See also Figure 4 In this embodiment, the guide rail 1 is provided with an open sliding groove 10, and the two side walls of the sliding groove 10 are provided with inner recesses 11; Figure 5 The cross-sectional shape of the slider 2 is adapted to the sliding groove 10; the two connecting columns 8 are respectively provided with an outer protrusion 12 adapted to the inner concave portion 11 on both side walls of the sliding groove 10, and a sliding portion 13 adapted to the side wall corresponding to the opening portion of the sliding groove 10, so that the sliding process is more stable.

[0029] See also Figure 6 In this embodiment, a first hinge column 14 is provided in the middle of the slider 2, and a hinge portion 15 is provided at the proximal end of the connecting rod 4. The hinge portion 15 is provided with a hinge hole 16 adapted to the first hinge column 14. The hinge portions 15 of the two connecting rods 4 are staggered so that the two connecting rods 4 are on the same plane, thereby making the operation of the device more stable.

[0030] Preferably, the upper and lower ends of the slider 2 are respectively provided with an arc-shaped inner perforation 17 for connecting the connecting wire 7. The arc-shaped inner perforation 17 is arranged inside the slider 2, and the entrance and exit of the arc-shaped inner perforation 17 are arranged on the corresponding end faces of the slider 2. In this embodiment, the connecting wire 7 is passed through the arc-shaped inner perforation 17, and the two ends of the connecting wire 7 are fixed to the spool 6. By setting the position for fixing the connecting wire 7 inside the slider 2 through the arc-shaped inner perforation 17, the movable range of the slider 2 can be increased, and the arc-shaped inner wall can avoid sharp corners or edges, reduce the friction between the wire and the hole wall during the insertion process, guide the wire to bend naturally, avoid local stress concentration, and reduce the risk of wire breakage caused by repeated friction or bending. When binding, the wire naturally adheres to the surface of the object along the arc path, the contact area between the wire and the hole wall is larger, the friction force is more evenly distributed, and the binding point is more secure. In terms of stress, because the entire model is relatively small, if it is made into an ordinary design, the extended ring is relatively small, and the traction force of the extended ring is concentrated at the root where the ring is connected to the object, which is prone to fatigue damage or falling off due to repeated stress. The arc-shaped inner perforation 17 can reduce local stress concentration and disperse the tension to the entire arc hole path of the object.

[0031] The connecting rod 4 of this embodiment also includes a connecting member 18, which includes a connecting portion 19. Connecting rings 20 for connecting the elastic member 5 are provided at both ends of the connecting portion 19. The distal end of the connecting rod 4 is provided with a mounting hole 21 adapted to the connecting portion 19. The connecting portion 19 is arranged in the mounting hole 21, and the two connecting rings 20 are arranged outside the mounting hole 21, which can effectively reduce the space required for fixing the elastic member 5 and facilitate the miniaturization of the device.

[0032] Preferably, the motor 3 is disposed on the outer wall of the guide rail 1 on the side opposite the opening of the sliding groove 10. A through hole 22 is provided at the bottom of the sliding groove 10, and the bobbin 6 is disposed within the sliding groove 10. The through hole 22 is used for connecting the bobbin 6 to the motor 3. Specifically, the output shaft of the motor 3 can be connected to the bobbin 6 by passing it through the through hole 22, or the bobbin 6 and the motor 3 can be connected by other transmission elements. Furthermore, the bobbin 6 is disposed at the bottom of the sliding groove 10 and between the slider 2 and the corresponding second connecting column 23 or fourth connecting column 25, making the transmission process more stable.

[0033] In this embodiment, the upper end of the guide rail 1 is provided with a second connecting post 23 at the bottom of the sliding groove 10. The second connecting post 23 is respectively connected to the elastic member 5 extending upward from the distal end of the connecting rod 4 and the elastic member 5 at the upper end of the slider. The upper end of the slider 2 is provided with a third connecting post 24, which is connected to the elastic member 5 at the upper end of the slider 2. The lower end of the guide rail 1 is provided with a fourth connecting post 25 at the bottom of the sliding groove 10. The fourth connecting post 25 is respectively connected to the elastic member 5 extending downward from the distal end of the connecting rod 4 and the elastic member 5 at the lower end of the slider. The lower end of the slider 2 is provided with a fifth connecting post 26, which is connected to the elastic member 5 at the lower end of the slider 2. Each connecting post can be fixed to the device via bolts with suitable threads, reducing overall production costs while also allowing the use of appropriately sized bolts to facilitate device miniaturization.

[0034] See also Figure 7 , the jumping process of the tensegrity jumping robot of the present invention, in the first three schematic diagrams, the motor 3 at the lower end of the guide rail 1 is driven to rotate counterclockwise, and at the same time, the motor 3 at the upper end of the guide rail 1 is driven to rotate clockwise, so that the connecting line 7 on the upper side of the slider 2 is extended and the connecting line 7 on the lower side of the slider 2 is shortened, and the slider 2 slowly moves downward relative to the guide rail 1; in the last three schematic diagrams, the motor 3 drives the slider 2 to reach the steady-state conversion critical point, and the slider 2 quickly moves downward relative to the guide rail 1, driving the robot to jump upward.

[0035] Existing jumping robots, such as the Salto-1P developed by the University of California, Berkeley, typically rely on multiple actuators and complex multi-degree-of-freedom coordinated control. Their energy release process is often relatively continuous, making it difficult to instantly convert pre-stored energy into jumping power. However, the present invention utilizes a multi-stable tensegrity structure design. This design requires only a single axial energy injection at key drive nodes, enabling the structure to instantly transition between different stable states. This allows for rapid and efficient release of elastic potential energy, significantly improving jumping height and energy conversion efficiency.

[0036] Conventional jumping robots often employ rigid frames or complex transmission mechanisms, resulting in heavy and bulky structures. This not only increases energy consumption but also limits their applicability to confined spaces or those with strict weight requirements. The robot structure of the present invention, primarily composed of lightweight rods and cables, offers extremely low weight and high flexibility. Its compact design effectively absorbs impact during takeoff and ensures landing stability, while also occupying minimal space, making it suitable for flexible deployment in complex environments.

[0037] This invention utilizes a modular assembly approach, allowing all multi-stable tensegrity units to be manufactured in a standardized manner. The entire system is constructed using identical inclined cable units, straight rod units, and central drive rod units. This design requires only active control of the central drive rod, while the remaining rods and cables respond passively. This significantly simplifies system manufacturing and maintenance, reduces control complexity and overall costs, and facilitates rapid on-site assembly and commissioning.

[0038] In summary, the jumping robot control method of the present invention is simple and efficient, has a lightweight and flexible structure, strong impact resistance and good modular assembly. It can achieve instantaneous release of pre-stored energy at low energy consumption, significantly improve jumping performance, and has good application prospects in the field of complex terrain detection with gullies, slopes and steps.

[0039] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A jumping robot based on a three-rod and six-cable multi-stable tensegrity structure, characterized in that: The cam is connected to the guide rail by a spring, and the cam is connected to the guide rail by a spring, and the cam is connected to the guide rail by a spring.

2. The three-rod six-cable multi-stable tensegrity jumping robot according to claim 1, characterized in that: The lower end of the connecting column is provided with a supporting foot for increasing the contact area.

3. The three-rod six-cable multi-stable tensegrity jumping robot according to claim 2, characterized in that: There are two connecting columns, which are respectively arranged on both sides of the slider corresponding to the two connecting rods; the lower ends of the two connecting columns are connected to the same supporting foot.

4. The three-rod six-cable multi-stable tensegrity jumping robot according to claim 3, characterized in that: The guide rail is provided with an open sliding groove, and the two side walls of the sliding groove are provided with inner recesses; the cross-sectional shape of the slider is adapted to the sliding groove; the two connecting columns are respectively provided with outer protrusions adapted to the inner recesses of the two side walls of the sliding groove, and sliding parts adapted to the side walls corresponding to the opening part of the sliding groove.

5. The three-rod six-cable multi-stable tensegrity jumping robot according to claim 1, characterized in that: A first hinge column is provided in the middle of the slider, a hinge portion is provided at the proximal end of the connecting rod, and the hinge portion is provided with a hinge hole adapted to the first hinge column. The hinge portions of the two connecting rods are staggered so that the two connecting rods are on the same plane.

6. The three-rod six-cable multi-stable tensegrity jumping robot according to claim 1, characterized in that: The upper and lower ends of the slider are respectively provided with arc-shaped inner perforations for connecting the connecting wires. The arc-shaped inner perforations are arranged inside the slider, and the inlets and outlets of the arc-shaped inner perforations are arranged on the corresponding end faces of the slider.

7. The three-rod six-cable multi-stable tensegrity jumping robot according to claim 1, characterized in that: The connecting rod also includes a connecting piece, which includes a connecting portion. Connecting rings for connecting the elastic member are provided at both ends of the connecting portion. A mounting hole adapted to the connecting portion is provided at the distal end of the connecting rod. The connecting portion is arranged in the mounting hole, and the two connecting rings are arranged outside the mounting hole.

8. The three-rod six-cable multi-stable tensegrity jumping robot according to claim 4, characterized in that: The motor is arranged on the outer wall of the guide rail on the side opposite to the opening of the sliding groove. A through hole is provided at the bottom of the sliding groove. The bobbin is arranged in the sliding groove. The through hole is used for the bobbin to be connected to the motor.

9. The three-rod and six-cable multi-stable tensegrity jumping robot according to claim 8, characterized in that: The upper end of the guide rail is provided with a second connecting column at the bottom of the sliding groove, the elastic part connecting the connecting rod and the upper end of the track is connected to the second connecting column, the upper end of the slider is provided with a third connecting column, and the two ends of the elastic part connecting the upper end of the slider are connected to the second connecting column and the third connecting column; the lower end of the guide rail is provided with a fourth connecting column at the bottom of the sliding groove, the elastic part connecting the connecting rod and the lower end of the track is connected to the fourth connecting column, the lower end of the slider is provided with a fifth connecting column, and the two ends of the elastic part connecting the lower end of the slider are connected to the fourth connecting column and the fifth connecting column.

10. The three-rod and six-cable multi-stable tensegrity jumping robot according to claim 9, characterized in that: The bobbin is arranged at the bottom of the sliding groove and between the sliding block and the corresponding second connecting column / fourth connecting column.

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