The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.
Skip Nav Destination
ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 2–5, 2015
Boston, Massachusetts, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5712-0
PROCEEDINGS PAPER
Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot
Andrew P. Sabelhaus,
Andrew P. Sabelhaus
University of California Berkeley, Berkeley, CA
Search for other works by this author on:
Hao Ji,
Hao Ji
University of California Berkeley, Berkeley, CA
Search for other works by this author on:
Patrick Hylton,
Patrick Hylton
University of California Berkeley, Berkeley, CA
Search for other works by this author on:
Yakshu Madaan,
Yakshu Madaan
University of California Berkeley, Berkeley, CA
Search for other works by this author on:
ChanWoo Yang,
ChanWoo Yang
University of California Berkeley, Berkeley, CA
Search for other works by this author on:
Alice M. Agogino,
Alice M. Agogino
University of California Berkeley, Berkeley, CA
Search for other works by this author on:
Jeffrey Friesen,
Jeffrey Friesen
University of California San Diego, La Jolla, CA
Search for other works by this author on:
Vytas SunSpiral
Vytas SunSpiral
NASA Ames Research Center, Moffett Field, CA
Search for other works by this author on:
Andrew P. Sabelhaus
University of California Berkeley, Berkeley, CA
Hao Ji
University of California Berkeley, Berkeley, CA
Patrick Hylton
University of California Berkeley, Berkeley, CA
Yakshu Madaan
University of California Berkeley, Berkeley, CA
ChanWoo Yang
University of California Berkeley, Berkeley, CA
Alice M. Agogino
University of California Berkeley, Berkeley, CA
Jeffrey Friesen
University of California San Diego, La Jolla, CA
Vytas SunSpiral
NASA Ames Research Center, Moffett Field, CA
Paper No:
DETC2015-47583, V05AT08A059; 12 pages
Published Online:
January 19, 2016
Citation
Sabelhaus, AP, Ji, H, Hylton, P, Madaan, Y, Yang, C, Agogino, AM, Friesen, J, & SunSpiral, V. "Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot." Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5A: 39th Mechanisms and Robotics Conference. Boston, Massachusetts, USA. August 2–5, 2015. V05AT08A059. ASME. https://doi.org/10.1115/DETC2015-47583
Download citation file:
176
Views
Related Proceedings Papers
Trajectory Planning for a 3-S P S-U Tensegrity Mechanism
IDETC-CIE2021
Related Articles
Design and Control of SLPM-Based Extensible Continuum Arm
J. Mechanisms Robotics (December,2022)
Design of a Xenia Coral Robot Using a High-Stroke Compliant Linear Electromagnetic Actuator
Letters Dyn. Sys. Control (July,2021)
Design of Series-Elastic Actuators for Dynamic Robots With Articulated Legs
J. Mechanisms Robotics (February,2009)
Related Chapters
Composing Elements and Kinematics Simulation of Three Gear-Plates Planet Drive with Small Teeth Difference Used in Robot
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
Design of Assembly Robot Controller Based on PROFI-BUS for Hubcap Gear-Box Pressure Assembling
Proceedings of the 2010 International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2010)
FSF of Serial-kinematics Systems
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy