Definition and Computation of Tensegrity Mechanism Workspace

Author:

Boehler Quentin1,Charpentier Isabelle2,Vedrines Marc S.3,Renaud Pierre3

Affiliation:

1. ICube, University of Strasbourg, Strasbourg 67000, France e-mail:

2. ICube, CNRS, Strasbourg 67000, France e-mail:

3. ICube, INSA of Strasbourg, Strasbourg 67000, France e-mail:

Abstract

Tensegrity mechanisms using linear springs as tensioned elements constitute an interesting class of mechanisms. When considered as manipulators, their workspace remains however to be defined in a generic way. In this article, we introduce a workspace definition and at the same time a computation method, based on the estimation of the workspace boundaries. The method is implemented using a continuation method. As an example, the workspace assessment of a two degrees of freedom (DOF) planar tensegrity mechanism is presented.

Publisher

ASME International

Subject

Mechanical Engineering

Reference13 articles.

1. Kinematic, Static and Dynamic Analysis of a Planar 2-DOF Tensegrity Mechanism;Mech. Mach. Theory.,2006

2. Kinematic Analysis of a Planar Tensegrity Mechanism With Pre-Stressed Springs,2008

3. Kinematics, Singularity, and Workspaces of a Planar 4-Bar Tensegrity Mechanism;J. Rob.,2014

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