Programmable‐Stiffness Tensegrity Continuum Robot for Adaptive Multicurvature On‐Orbit Assembly

Large and fragile space structures such as telescopes and solar sails demand robotic manipulators that combine adaptability with safe interaction. Conventional rigid manipulators lack compliance, while existing continuum robots struggle with controllability and are limited to single‐curvature deformation. Here, a bioinspired tensegrity‐based continuum robot with programmable stiffness is introduced that achieves adaptive multicurvature morphing through intra‐ and intermodule stiffness distribution. A unified energy‐based framework establishes self‐equilibrium and predictive deformation of serial tensegrity modules, enabling systematic design and control. The approach is validated through computational modeling and physical experiments, demonstrating geometry‐specific adaptation to hexagonal, circular, elliptical, and polygonal profiles relevant to on‐orbit assembly. The designed six‐module BTCR prototype achieves at least twofold differences in segmental curvature and bending angle through stiffness distribution, with theoretical maximum values of 230° bending angle and 8 m − 1 curvature. Stiffness programming reduces reliance on continuous actuation while expanding accessible deformation modes, offering a lightweight and reconfigurable pathway for safe manipulation of fragile structures. This work advances continuum robotics by merging tensegrity mechanics with stiffness‐programmable design, with broad implications for space assembly, deployable systems, and adaptive manipulation in extreme environments.