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RESEARCH PAPERS

Static Balancing of Tensegrity Mechanisms

[+] 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 129(3), 295-300 (Mar 13, 2006) (6 pages) doi:10.1115/1.2406100 History: Received October 12, 2005; Revised March 13, 2006

The computation of the equilibrium configurations of tensegrity mechanisms is often a very tedious task even for relatively simple architectures. However, it has been observed that the complexity of this problem is significantly reduced when gravitational loads are compensated with the use of static balancing techniques. In this work, the general static balancing conditions are adapted for the case of tensegrity mechanisms. Afterward, the modified conditions are applied to two new spatial three-degree-of-freedom tensegrity mechanisms.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

Static balancing of a rigid body mounted on a spherical joint by using a single spring

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Figure 2

Spatial 3-DOF tensegrity mechanism with prismatic actuators

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Figure 3

Orientation of bar i relative to the fixed reference frame

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Figure 4

Proposed design for the static balancing of the spatial 3-DOF tensegrity mechanism with prismatic actuators

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Figure 5

Spatial 3-DOF tensegrity mechanism with revolute actuators

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Figure 6

Definition of the Hartenberg-Denavit parameters for the ith leg

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Figure 7

Proposed design for the static balancing of the spatial 3-DOF tensegrity mechanism with revolute actuators

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Figure 8

Computation of KS,p and KS,d by superposition: (a)αi and βi locked, and (b)θi locked

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