Kinematic, static, and dynamic analysis of a planar one-degree-of-freedom tensegrity mechanism

The use of tensegrity systems as structures has been extensively studied. However their development for use as mechanisms is quite recent even though they present such advantages as reduced mass and a deployment capability. The object of this paper is to apply analysis methods usually reserved for conventional mechanisms to a planar one-degree-of-freedom tensegrity mechanism. This mechanism is obtained from a three-degree-of-freedom tensegrity system by adding actuation to the latter as well as by making some assumptions of symmetry. Analytical solutions are thus developed for the mechanism's direct and inverse static problems. Furthermore, the working curve, singularities, and stiffness of the mechanism are detailed. Finally, a dynamic model of the mechanism is developed and a preliminary control scheme is proposed.