Affiliation:
1. School of Mechanical Engineering, Shiraz University, Shiraz 71348-51154, Iran e-mail:
Abstract
The objective of this study is to present an analytical procedure for analysis of a compliant tensegrity mechanism focusing on its stiffness and dynamic characteristics. The screw calculus is used to derive the static equations and stiffness matrix of a full degree-of-freedom tensegrity mechanism, and the equations of motion are derived based on the principle of virtual work. Finally, some numerical examples are solved for the inverse dynamics of the mechanism.
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