Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism

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Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism

Cruz-Martinez, G. M. / Vilchis, J-C Avila / Gonzalez, A. Vilchis / Abdelaziz, S. / Poignet, P.

This paper deals with the impact of the design parameters on the static workspace and the stiffness range of a planar 3-DoF tensegrity mechanism. The static model is established through the energetic approach and the stiffness is derived analytically along the 3-DoF of the mechanism. The design parameters considered here are the spring stiffness and the location of the mechanism attachment points to the base. Results on the impact of these parameters are finally analyzed. This analysis constitutes a first step towards the geometric optimization of tensegrity mechanisms.

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Dokumentinformationen

Titel :

Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism

Weitere Titelangaben:

Springer Proceedings in Advanced Robotics

Beteiligte:

Lenarčič, Jadran (Herausgeber:in) / Siciliano, Bruno (Herausgeber:in) / Cruz-Martinez, G. M. (Autor:in) / Vilchis, J-C Avila (Autor:in) / Gonzalez, A. Vilchis (Autor:in) / Abdelaziz, S. (Autor:in) / Poignet, P. (Autor:in)

Kongress:

International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020

Erschienen in:

Advances in Robot Kinematics 2020 ; Kapitel : 3 ; 15-24

Springer Proceedings in Advanced Robotics ; 15

Erscheinungsdatum :

2020-07-18

Format / Umfang :

10 pages

ISBN :

978-3-030-50975-0 , 978-3-030-50974-3

ISSN :