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

Abstract : 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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https://hal-lirmm.ccsd.cnrs.fr/lirmm-03141529
Contributor : Isabelle Gouat <>
Submitted on : Monday, February 15, 2021 - 12:33:24 PM
Last modification on : Tuesday, March 9, 2021 - 5:09:37 PM
Long-term archiving on: : Sunday, May 16, 2021 - 7:14:38 PM

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Giorgio Mackenzie Cruz-Martinez, Juan Carlos Avila-Vilchis, Adriana Vilchis González, Salih Abdelaziz, Philippe Poignet. Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism. International Symposium on Advances in Robot Kinematics (ARK 2020), Dec 2020, Ljubljana, Slovenia. pp.15-24, ⟨10.1007/978-3-030-50975-0_3⟩. ⟨lirmm-03141529⟩

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