Introducing and Analyzing a Novel Three-Degree-of-Freedom Spatial Tensegrity Mechanism-Reference-Cited by-同舟云学术

Introducing and Analyzing a Novel Three-Degree-of-Freedom Spatial Tensegrity Mechanism

Published:2014-02-12 Issue:2 Volume:9 Page:
ISSN:1555-1415
Container-title:Journal of Computational and Nonlinear Dynamics
language:en
Short-container-title:

Author:

Abadi Bahman Nouri Rahmat¹,Farid Mehrdad¹,Mahzoon Mojtaba¹

Affiliation:

1. School of Mechanical Engineering, Shiraz University, Shiraz 71348-51154, Iran e-mail:

Abstract

The objective of the present paper is to introduce and analyze a particular spatial mechanism as a modification of the Stewart robot. The three limbs of the Stewart parallel robot are replaced by springs. Three hydraulic actuators control translational motion of the mechanism. Kinematics of the mechanism is studied and its static equations are derived and for a special case where external and gravitational forces are neglected, an analytical solution is presented. Also, the principle of virtual work is employed to derive the equations of motion of the proposed mechanism. Based on the dynamical equations, the motion of the system is simulated.

Publisher

ASME International

Subject

Applied Mathematics,Mechanical Engineering,Control and Systems Engineering,Applied Mathematics,Mechanical Engineering,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/computationalnonlinear/article-pdf/doi/10.1115/1.4025894/6104964/cnd_009_02_021017.pdf

Reference17 articles.

1. Tensile-Integrity Structures,1962

2. Tensegrity Prisms as Adaptive Structures;Adapt. Struct. Mater. Syst.,1997

3. Shibata, M., Saijyo, F., and Hirai, S.2009, “Crawling by Body Deformation of Tensegrity Structure Robots,” Proceedings – IEEE International Conference on Robotics and Automation, Paper No. 5152752, pp. 4375–4380.

4. A Force and Torque Tensegrity Sensor;Sens. Actuators, A,2004

Cited by 4 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Impact of the Bars Behavior on the Design of Soft Tensegrities;Journal of Mechanisms and Robotics;2024-02-27

2. Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint;Machines;2021-10-28

3. Selection of actuation mode for tensegrity mechanisms: The case study of the actuated Snelson cross;Mechanism and Machine Theory;2020-10

4. Kinematic, Stiffness, and Dynamic Analyses of a Compliant Tensegrity Mechanism;Journal of Mechanisms and Robotics;2014-06-05