Design and Experimental Validation of a Novel Tensegrity Robotic Arm

Tensegrity structures consist of compressive and tensile elements working cooperatively. Their components do not contact each other, enabling low energy consumption and high load efficiency. Leveraging these characteristics, this paper innovatively designs a tensegrity robotic arm. To address the lack of systematic design methodologies for such robotic arms in existing work, this paper integrates multi-objective optimization algorithms with mathematical models of robotic arm stiffness and kinematics, establishing a systematic optimization design model for tensegrity robotic arms. This paper not only validates the potential of tensegrity structures in robotics applications but also provides a theoretical foundation and optimization framework for the design of similar robotic arms in the future.