Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

Abstract The field of tensegrity faces challenges in design to facilitate efficient fabrication, and modeling due the antagonistic nature tension compression elements. research presents methodology, framework for a human-spine inspired Dexterous continuum Tensegrity manipulatoR (DexTeR). DexTeR is manipulator that comprises an assembly “vertebra” modules fabricated using two curved links 12 strings, actuated motor-tendon actuators. fabrication methodology involves construction equivalent graph module finding Euler path traverses every edge exactly once. vertices edges correspond holes strings or mechanism. Unlike traditional rigid manipulators, results centralization majority weight actuators at base with negligible effect on dynamics. For first time literature, we fabricate assembled ten conceptually validate cost efficiency approach. A dynamic model vertebra presented Euler–Newton approach screw theory representation. Each link represented screw, six-dimensional vector components angular rotation, linear translation. nonlinearity system arises from discontinuous behavior “closed-chain” piece-wise continuous their slack, compliant, states.