Continuum Tensegrity Manipulator With Base-Centralized Tendon Actuation

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Solution Overview

Problem

The fabrication and design of tensegrity mechanisms, particularly in modular tensegrity robots, are challenging due to the antagonistic nature of tension and compression elements, leading to complex design and control issues, and the integration of actuators complicates the manufacturing process.

Innovation Solution

A design methodology and modeling framework for a human spine-inspired dexterous continuum tensegrity manipulator is developed, utilizing two curved links and twelve strings actuated by Motor-Tendon Actuators, with a fabrication process that involves constructing an equivalent graph and finding an Euler path to traverse every edge once, centralizing actuators at the base for efficient assembly.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Stability of the object's composition

If traditional rigid manipulators are used, then structural stability is maintained, but weight and complexity increase

Engineering Contradiction:

Improvestructural stabilityVSAvoidmanipulator weight

Core Design Contradiction:

Stability of the object's compositionVSWeight of moving object

Solution Approach 1:

The manipulator is divided into multiple tensegrity modules (vertebrae) that can be assembled in series, allowing the structure to be lightweight yet stable through modular tension-compression element distribution

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The manipulator combines rigid compression elements (rod elements) with flexible tension elements (cables) to create a composite tensegrity structure that achieves high strength-to-weight ratio while maintaining stability

Inventive Principle:

Principle #40Composite materials

2Ease of operation

If actuators are integrated into each module, then controllability is improved, but fabrication complexity increases

Engineering Contradiction:

ImprovecontrollabilityVSAvoidfabrication complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

Multiple actuators are merged and centralized at the base of the manipulator rather than distributing them throughout the structure, reducing fabrication complexity while maintaining control through the tendon actuation system

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

Tendons serve as intermediaries that transmit force from the centralized base actuators to the distal manipulator modules, enabling distributed control without distributed actuators

Inventive Principle:

Principle #24Intermediary (Mediator)

3Adaptability or versatility

If more actuators are used, then controllability over stiffness and shape change is improved, but computation power and algorithm complexity increase

Engineering Contradiction:

Improvestiffness and shape change controlVSAvoidcomputation complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The tensegrity structure provides variable stiffness and shape change capabilities through its inherent mechanical properties rather than requiring complex active control systems, reducing computation requirements

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS12623340B2Device and method of fabrication for dexterous continuum tensegrity manipulator

Publication Date: 2026.05.12 UNIVERSITY OF ALABAMA

AI summary

A continuum manipulator that comprises an assembly of ‘vertebra’-like modules fabricated using two curved links and twelve strings and actuated using Motor-Tendon Actuators. The modules being modeled as tensegrity structures having a polyhedron shape. The vertices and edges of the tensegrity structure polyhedron correspond to the holes and strings or links of the structure. Furthermore, a mobile continuum manipulator that includes a control unit and wheels or mobile legs.