Kinematic and static analysis of a 3-PU(P)under-barS spatial tensegrity mechanism

被引：33

作者：

Arsenault, Marc ^{[1
]}

Gosselin, Clement M. ^{[2
]}

机构：

[1] Royal Mil Coll Canada, Dept Mech Engn, Kingston, ON K7K 7B4, Canada

[2] Univ Laval, Fac Sci & Genie, Dept Genie Mecan, Quebec City, PQ G1K 7P4, Canada

来源：

MECHANISM AND MACHINE THEORY | 2009年 / 44卷 / 01期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Tensegrity; Mechanism; Kinematic analysis; Stiffness; Workspace; DYNAMIC-ANALYSIS;

D O I：

10.1016/j.mechmachtheory.2008.02.005

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The development of tensegrity mechanisms is motivated by their reduced inertia which is made possible by an extensive use of cables and springs. In this paper, a new spatial tensegrity mechanism is introduced. The direct and inverse static problems of the mechanism are solved by minimizing its potential energy. For a simplified case where external and gravitational loads are neglected, analytical solutions to these problems are found and are then used to compute the boundaries of the mechanism's actuator and Cartesian workspaces. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：162 / 179

页数：18

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