From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism

Quentin Boehler 1, * Salih Abdelaziz 2 Marc Vedrines 1 Philippe Poignet 2 Pierre Renaud 1
* Corresponding author
1 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Cable-driven tensegrity mechanisms are now considered for various applications in which their reconfiguration capacities are required together with their inherent lightness. Moreover, they can exhibit interesting variable stiffness capacities through the modification of their level of prestress when composed of deformable cables. Control schemes that deal with both reconfiguration and stiffness variation have however not been developed in the literature yet.
This paper presents two control strategies for that purpose to transform a cable-driven tensegrity mechanism into a variable stiffness device. The mechanism is a planar tensegrity mechanism allowing us to control an angular position and the associated stiffness. Relying on the properties of the mechanism models, the proposed control strategies allow a modulation of the stiffness or of its first time derivative. The interest of both propositions is outlined and an experimental investigation of their characteristics is performed. Encouraging results are obtained in terms of reconfiguration capabilities and stiffness variation.
Keywords : Variable stiffness Tensegrity mechanism Velocity distribution Cable-driven mechanisms Tension distribution
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Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre Renaud. From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism. Mechanism and Machine Theory, Elsevier, 2017, 107, pp.1-12. ⟨10.1016/j.mechmachtheory.2016.09.015⟩. ⟨lirmm-01370419⟩

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