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

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.

Keywords

Tensegrity mechanism Static workspace Stiffness range

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Automatic

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https://hal-lirmm.ccsd.cnrs.fr/lirmm-03141529

Submitted on : Monday, February 15, 2021-12:33:24 PM

Last modification on : Monday, May 13, 2024-12:06:59 PM

Long-term archiving on : Sunday, May 16, 2021-7:14:38 PM

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lirmm-03141529 , version 1 (15-02-2021)

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HAL Id : lirmm-03141529 , version 1
DOI : 10.1007/978-3-030-50975-0_3

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Giorgio Mackenzie Cruz-Martinez, Juan Carlos Avila Vilchis, Adriana Herlinda Vilchis-Gonzalez, Salih Abdelaziz, Philippe Poignet. Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism. ARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Dec 2020, Ljubljana, Slovenia. pp.15-24, ⟨10.1007/978-3-030-50975-0_3⟩. ⟨lirmm-03141529⟩

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