The following article contains a detailed description of how to create the WALTR Tensegrity robot. 

Required Parts:

• Hollow Kite Rod to make 6 struts
• 24 springs
• 12 screws
• 12 washers
• 3 motors
• Assorted wire
• Epoxy

The first step is to take the full kite rod and cut the struts to length. To do this we have created a guide that allows us to line up the strut. Each strut can then be cut using the cutting blade of the dremel tool. If needed some sanding can be done to even the struts out so that they are more equal. In this first model of WALTR we did not pay much attention to the evenness of the struts, however in the future we will pay more attention to this detail.

After the struts have been cut the holes on each end were tapped so that the plastic screws could be inserted into them. Each of the washers needs to be drilled in four spots 90 degrees from each other so that each of the springs can be attached. This is done using the smallest drill bit in a normal set.

The next step is to assemble the tensegrity. To do this secure one of the struts with  a clamp to assist in the assembly. The washers and screws are inserted into both ends of the struts. Finally the springs can be inserted into the holes in the washers to form the tensegrity.

Finally the motors need to be glued to the struts using an epoxy. The motors are secured in a way that they are orthogonally placed. The wires are soldered onto the motors and magnetic wire is attached to the wire.

And then you have a complete tensegrity robot! The magnetic wire can be connected to a a source to control the motors!