Tribar is an untethered three-bar tensegrity robot driven by six electric motors. Many parts are commercial-off-the-shelf components listed in this Bill of Materials. For the custom-made parts, detailed fabrication instructions are given in our guide to assembling the robot. The open-source designs of the mechanical components are available on GrabCAD. The circuit board designs in EAGLE are available on GitHub. Browse the pages below to learn more.
Open-source Hardware
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Electrical Components
A compact, custom motherboard hosts commercial PCBs for controlling the tensegrity robot.
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Mechanical Components
The three-bar tensegrity robot is made from COTS components and 3D printed parts.
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Strain Sensors
Capacitive strain sensors are used to measure the tendons’ lengths for feedback control.
