Fast Response Gripper Based on Asymmetric Bistable Dual-Triangle Tensegrity Structure

Robots require compliant actuators capable of reducing tremendous stress shocks while maintaining fast response and lightweight. Bistable tensegrity structures have excellent performances such as fast response and high efficiency. In this study, a novel fast response gripper based on a dual-triangle bistable tensegrity structure was explored. The bistable properties of the dual-triangle tensegrity structure were analyzed from the perspective of the energy landscape. Two optimization methods were employed to adjust the structural parameters of it, aiming to achieve the desired energy landscape and agility properties. One of these optimization methods is innovative, utilizing equilibrium constraints to optimize with higher accuracy and computational efficiency. Its distinguishing feature is the ability to optimize the energy differences of bistable structures in precise equilibrium configurations without the need for discretization. By applying this method, a gripper based on the dual-triangle tensegrity structure was designed. The gripper demonstrated excellent performances in fast response and easy-trigger, verifying the feasibility of this method. This research is significant for developing fast response grippers, morphing structures, and multistable robots, which have potential applications in foldable robots, bird-like micro aerial vehicles, fruit-picking mechanisms, and more.