Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies

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Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies

Muralidharan, Vimalesh / Wenger, Philippe / Chevallereau, Christine

This paper analyzes the instantaneous kinematic and static performance of a two degree-of-freedom serial manipulator composed of anti-parallelogram (or X-) tensegrity joints and remotely driven with cables. Two actuation schemes with 4 cables and 3 cables, respectively, are considered for this manipulator. The physical limitations on the velocities and forces of the actuating cables are mapped onto the task space of the manipulator, to quantify the corresponding velocity and force-application capabilities of the end-effector. A comparative study is carried out between the 4-cable and 3-cable actuation schemes in terms of their velocity and force performance.

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Title :

Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies

Additional title:

Springer Proceedings in Advanced Robotics

Contributors:

Altuzarra, Oscar (editor) / Kecskeméthy, Andrés (editor) / Muralidharan, Vimalesh (author) / Wenger, Philippe (author) / Chevallereau, Christine (author)

Conference:

International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022

Published in:

Advances in Robot Kinematics 2022 ; Chapter : 17 ; 149-159

Springer Proceedings in Advanced Robotics ; 24

Publication date :

2022-06-18

Size :

11 pages

ISBN :

978-3-031-08140-8 , 978-3-031-08139-2

ISSN :