Stiffness Analysis of a 2DOF Planar Tensegrity Mechanism-Reference-Cited by-同舟云学术

Stiffness Analysis of a 2DOF Planar Tensegrity Mechanism

Published:2011-04-11 Issue:2 Volume:3 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Arsenault Marc¹

Affiliation:

1. Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, ON, K7K 7B4, Canada

Abstract

This paper presents the stiffness analysis of a planar 2DOF tensegrity mechanism. A stiffness model is first derived based on an existing formulation. Several stiffness indices having physical meaning are then extracted from the stiffness matrix for performance evaluation purposes. Stiffness mappings based on these stiffness indices are then plotted over the mechanism’s workspace and observations are made. It is shown, for instance, that in the case of the planar 2DOF tensegrity mechanism, the effect of the prestress on the stiffness is generally not significant when the stiffnesses of the cables and struts are assumed to be linear.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4003849/5562240/021011_1.pdf

Reference31 articles.

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3. Analysis of Prestressed Mechanisms;Pellegrino;Int. J. Solids Struct.

4. Tensegrity Prisms as Adaptive Structures;Oppenheim

5. Design and Analysis of a Hybrid Parallel Platform That Incorporates Tensegrity;Marshall

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