Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 9 | Spherical Bio-Inspired Tensegrity Multiple Step Robot with LCE Actuation |
Dongzi Li Yiqin Xiang Yuxuan Huang Ziye Chen |
final_paper1.pdf other1.pdf |
Hanzhi Ma | |
| Problem Robots designed for exploration or operation in unstructured environments often face challenges related to impact resistance, adaptability, and mechanical complexity. Traditional rigid robots rely on wheels, motors, and rigid frames, which can be vulnerable to collisions and mechanical damage when operating in uncertain environments. Tensegrity structures offer a promising alternative because they combine rigid compression elements and tensioned cables to form lightweight yet resilient structures. These systems distribute loads efficiently and naturally absorb impacts, making them suitable for robots that must tolerate collisions or uneven terrain. However, many existing tensegrity robots rely on bulky motors or external actuation systems to control cable tension, which increases system weight, mechanical complexity, and power consumption. A more compact and integrated actuation method is needed to enable lightweight tensegrity robots capable of controlled locomotion. Researchers therefore need a robotic system that integrates lightweight tensegrity structures with compact actuators to enable controllable motion while maintaining structural compliance and robustness. Solution Overview Our solution is to develop a spherical bio-inspired tensegrity robot that uses liquid crystal elastomer (LCE) actuator cables as artificial muscles. The robot will consist of a lightweight hollow tensegrity framework composed of rigid rods connected by tension cables. Selected cables will be replaced by LCE actuators. When electrical current is applied to the LCE cables, Joule heating causes the material to contract. This contraction increases tension within the tensegrity structure and produces controlled deformation of the spherical frame. By activating different actuators in sequence, the robot can shift its center of mass and generate rolling motion on flat ground. The system will include a multi-channel control circuit, wireless communication, and gait-sequence control softwarethat coordinate actuator activation. These components allow the robot to perform continuous locomotion and basic directional control. In addition, power and thermal management mechanisms will ensure safe and reliable operation of the LCE actuators. Solution Components Actuation Subsystem • LCE actuator cables that contract when electrically heated • Driver circuits capable of supplying current to multiple actuators • Electrical connections integrated into the tensegrity structure These components act as artificial muscles that control tension within the robot and enable structural deformation. Structural Subsystem • Lightweight rigid rods forming the compression elements • Tension cables connecting structural nodes • Mechanical joints and connectors forming a spherical tensegrity framework The structure maintains the robot’s geometry while distributing loads and absorbing impacts. Control Subsystem • Microcontroller for actuator control • Multi-channel switching or driver circuitry • Gait-sequence control software This subsystem determines the timing and sequence of actuator activation required to generate rolling locomotion. Communication Subsystem • Wireless communication module (e.g., Bluetooth or WiFi) • Remote command interface This subsystem allows users to send commands to control the robot’s motion. Power Subsystem • Rechargeable battery pack • Voltage regulation circuitry This subsystem supplies electrical power to the control electronics and LCE actuators. Criterion for Success The project will be considered successful if the following criteria are achieved: 1. Actuation capability The LCE actuator cables must demonstrate repeatable contraction when electrically heated and return to their original length after cooling. 2. Controlled locomotion The robot must demonstrate continuous rolling motion on a flat surface through coordinated actuator activation. 3. Directional control The robot must demonstrate basic steering capability using different actuator sequences. 4. Wireless operation The robot must successfully receive wireless commands and execute corresponding motion behaviors. 5. System integration The complete system—including tensegrity structure, actuators, control electronics, and power supply—must operate together as an integrated robot. |
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