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RESEARCH PAPERS

Kinematic, Static, and Dynamic Analysis of a Planar One-Degree-of-Freedom Tensegrity Mechanism

[+] Author and Article Information
Marc Arsenault

 Laboratoire de robotique de l’Université Laval, Département de génie mécanique, Université Laval Québec, Québec, Canada G1K 7P4marc.arsenault.1@ulaval.ca

Clément M. Gosselin1

 Laboratoire de robotique de l’Université Laval, Département de génie mécanique, Université Laval Québec, Québec, Canada G1K 7P4gosselin@gmc.ulaval.ca

1

Corresponding author.

J. Mech. Des 127(6), 1152-1160 (Feb 02, 2005) (9 pages) doi:10.1115/1.1913705 History: Received July 06, 2004; Revised February 02, 2005

The use of tensegrity systems as structures has been extensively studied. However, their development for use as mechanisms is quite recent even though they present such advantages as reduced mass and a deployment capability. The object of this paper is to apply analysis methods usually reserved for conventional mechanisms to a planar one-degree-of-freedom tensegrity mechanism. This mechanism is obtained from a three-degree-of-freedom tensegrity system by adding actuation to the latter as well as by making some assumptions of symmetry. Analytical solutions are thus developed for the mechanism’s direct and inverse static problems. Furthermore, the working curve, singularities, and stiffness of the mechanism are detailed. Finally, a dynamic model of the mechanism is developed and a preliminary control scheme is proposed.

FIGURES IN THIS ARTICLE
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Copyright © 2005 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Planar unactuated tensegrity system

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Figure 2

α versus κ for several values of l0 with L=1

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Figure 3

Planar 1-DOF tensegrity mechanism

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Figure 4

Working curve of a planar 1-DOF tensegrity mechanism with K1=K2=10 and L=1

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Figure 5

Displacement of nodes C and D under the action of an external force applied along the y-axis

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Figure 6

Potential energy of a planar 1-DOF tensegrity mechanism with K1=K2=10, L=1, and ρ=1∕2

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Figure 7

Stiffness profile of a planar 1-DOF tensegrity mechanism with K1=K2=10, L=1, and ρ=1∕2

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Figure 8

Stiffness as a function of y for a planar 1-DOF tensegrity mechanism with K1=K2=10, L=1, and ρ=1∕2

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Figure 9

Equilibrium stiffness (K0) as a function of ρ for a planar 1-DOF tensegrity mechanism with K1=K2=10 and L=1

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Figure 10

Movement of nodes C and D along y for the specified trajectory while using standard PID control

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Figure 11

Error between the actual and prescribed trajectories while using standard PID control

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Figure 12

Evolution of the actuator length for the specified trajectory while using standard PID control

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Figure 13

Evolution of the actuator force for the specified trajectory while using standard PID control

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Figure 14

Evolution of the mechanism configuration for the specified trajectory at time instants between 0⩽t⩽1

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