Affiliation:
1. Laboratoire de robotique de l’Université Laval Département de génie mécanique, Université Laval Québec, Québec, G1K 7P4, Canada
Abstract
One of the drawbacks of conventional mechanisms is the significant inertia of their moving parts. Tensegrity mechanisms, which have a reduced mass because of their extensive use of cables and springs, represent a potential alternative to these mechanisms for certain types of applications. In this paper a new spatial three-degree-of-freedom tensegrity mechanism is developed and analyzed. Mathematical models of the kinematics, statics, and dynamics of the mechanism are generated. These models reveal several characteristics of the fundamental behavior of tensegrity mechanisms that make them rather unique.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
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