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RESEARCH PAPERS

Kinematic, Static, and Dynamic Analysis of a Spatial Three-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, G1K 7P4, Canadamarc.arsenault.1@ulaval.ca

Clément M. Gosselin1

Laboratoire de robotique de l’Université Laval Département de génie mécanique, Université Laval Québec, Québec, G1K 7P4, Canadagosselin@gmc.ulaval.ca

1

Address all correspondence to this author.

J. Mech. Des 128(5), 1061-1069 (Nov 30, 2005) (9 pages) doi:10.1115/1.2218881 History: Received May 24, 2005; Revised November 30, 2005

One of the drawbacks of conventional mechanisms is the significant inertia of their moving parts. Tensegrity mechanisms, which have a reduced mass because of their extensive use of cables and springs, represent a potential alternative to these mechanisms for certain types of applications. In this paper a new spatial three-degree-of-freedom tensegrity mechanism is developed and analyzed. Mathematical models of the kinematics, statics, and dynamics of the mechanism are generated. These models reveal several characteristics of the fundamental behavior of tensegrity mechanisms that make them rather unique.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Spatial 3-DoF tensegrity mechanism

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Figure 2

Orientation of strut i relative to the fixed reference frame

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Figure 3

Evolution of Kα3 and Kβ3 as a function of τα3 and τβ3, respectively, for K=100, L=1, and ψ=ψ0

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Figure 4

Actuator workspace of a spatial 3-DoF tensegrity mechanism with L=1

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Figure 5

Cartesian workspace of a spatial 3-DoF tensegrity mechanism with L=1

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Figure 6

Cartesian coordinates of the position of the end effector during the dynamic simulation

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