IEEE Robotics & Automation Magazine - September 2011 - 101

Load Cell 2

Load Cell 3
25

20

20

20

15
10
5

Force (N)

25

Force (N)

Force (N)

Load Cell 1
25

15
10
5

0
5,000

10,000

10
5

0
0

15

0
0

5,000

10,000

0

5,000

10,000

Samples
Load Cell 5

Load Cell 6
13

12

12

12

11

11

11

10
9

Force (N)

13

Force (N)

Force (N)

Load Cell 4
13

10
9

10
9

8

8

8

7

7

7

6

6
0

5,000

10,000

6
0

5,000

10,000

0

5,000

10,000

Samples

Figure 9. Springs' real force when the three bars change their lengths at equal rates.

2) Bandwidth: The maximum bandwidth available for a Results
standard serial port is 115.200 b/s. In our particular case, We will discuss the two experiments performed with the
this means that every driver can use up to 38.400 b/s.
real tensegrity-based mechanism. The aim is to demonBoth problems were solved by implementing a switch strate the possibility of taking a tensegrity structure from
serial port Ethernet using an FPGA device providing a an initial stable configuration to a desired one. This is
bandwidth up to 100 Mb/s. Every
device entering the switch has its
own address so multiple access situations are avoided. Finally, an interface board between the FPGA and
computer is necessary to translate
TTL levels to RS232 and vice versa.
We now proceed with the force
sensor acquisition unit. A measure of
force in each spring provides a lot of
insight to understand how the full
structure acts and responds. The
force measure system comprises the
load cells (Futek, LSB200), the signal
conditioning (Texas Instruments SCCSG24), the analog-to-digital converter
(Analog Devices AD7939CB), and
(a)
(b)
another FPGA (Xilinx Virtex4 ML405),
which properly filters, calculates, and
sends the force values to the host Figure 10. Two snapshots from the vertical trajectory of the structure: (a) initial and (b)
final configuration.
computer through an Ethernet port.
SEPTEMBER 2011

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

101



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2011

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