Definition and Computation of Tensegrity Mechanism Workspace-Reference-Cited by-同舟云学术

Definition and Computation of Tensegrity Mechanism Workspace

Published:2015-11-01 Issue:4 Volume:7 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

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

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4029809/6255755/jmr_007_04_044502.pdf

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

Cited by 39 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. A Dynamical Model for the Control of a Guyed Tensegrity Beam Under Large Displacements;Journal of Mechanisms and Robotics;2024-02-01

2. Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot;Journal of Mechanisms and Robotics;2023-10-04

3. Design Considerations and Workspace Computation of 2-X and 2-R Planar Cable-Driven Tensegrity-Inspired Manipulators;2023

4. Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace;Mechanisms and Machine Science;2023

5. An Instantaneous Optimal Control for Bird Neck With the Cosserat rod Model;2022 IEEE 5th Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC);2022-12-16