Kinematic, static and dynamic analysis of a planar 2-DOF tensegrity mechanism

被引：82

作者：

Arsenault, Marc ^{[1
]}

Gosselin, Clement M. ^{[1
]}

机构：

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

来源：

MECHANISM AND MACHINE THEORY | 2006年 / 41卷 / 09期

基金：

加拿大自然科学与工程研究理事会;

关键词：

tensegrity mechanism; kinematic; dynamic; stiffness; workspace;

D O I：

10.1016/j.mechmachtheory.2005.10.014

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Tensegrity mechanisms are lightweight, deployable and can be accurately modeled. Consequently, they constitute an interesting alternative to conventional mechanisms for some applications. In this work, the kinematics, statics and dynamics of a planar two-degree-of-freedom tensegrity mechanism are studied. Solutions to the direct and inverse static problems are first presented. Afterwards, the boundaries of the actuator and Cartesian workspaces of the mechanism are computed. The stiffness of the mechanism is then detailed for different situations. Finally, a dynamic model is derived and a preliminary control scheme is proposed. (C) 2005 Elsevier Ltd. All rights reserved.

引用

页码：1072 / 1089

页数：18