Date of Award


Document Type

Union College Only

Degree Name

Bachelor of Science


Electrical Engineering

First Advisor

Walt Dixon

Second Advisor

John Rieffel

Third Advisor

James Hedrick




Printed Circuit Board, Wireless, Modular, PCB, Tensegrity, Strut


Tensegrity robots are a form of soft robotics useful because their form stabilization is based on internal tension rather than gravity. This type of stabilization allows their structure to deform but still return to their original shape regardless of environment. The challenge with Tensegrity robots is creating a control system that allows them to locomote freely. This proposed design will create a battery powered wireless strut fabricated from PCB for the Tensegrity robot that is self-powered, is able to send and receive data, and can control a DC vibration motor. The goal is to control the dynamics of the tensegrity through the vibrations of the struts in order to allow the robot to locomote. The parts were selected based on their ability to control the motor, as well as send vibration data to a control computer wirelessly. This will allow better implementation for the genetic algorithms used. The prototype PCB strut withstood structural tests, however, because of improper tools, little of the design was validated. Despite this, the use of PCB positively impacted the size and durability of each strut and will be a useful material for further testing.