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Research Papers

Stiffness Analysis of a 2DOF Planar Tensegrity Mechanism

[+] Author and Article Information
Marc Arsenault

Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, ON, K7K 7B4, Canadamarc.arsenault@rmc.ca

J. Mechanisms Robotics 3(2), 021011 (Apr 11, 2011) (8 pages) doi:10.1115/1.4003849 History: Received August 02, 2010; Revised February 07, 2011; Published April 11, 2011; Online April 11, 2011

This paper presents the stiffness analysis of a planar 2DOF tensegrity mechanism. A stiffness model is first derived based on an existing formulation. Several stiffness indices having physical meaning are then extracted from the stiffness matrix for performance evaluation purposes. Stiffness mappings based on these stiffness indices are then plotted over the mechanism’s workspace and observations are made. It is shown, for instance, that in the case of the planar 2DOF tensegrity mechanism, the effect of the prestress on the stiffness is generally not significant when the stiffnesses of the cables and struts are assumed to be linear.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Schematic diagram of the novel 2DOF planar tensegrity mechanism

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Figure 2

Distribution of the stiffness at node A3 as a function of θ for the mechanism’s reference configuration with f=0.001 N

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Figure 3

Mapping of the minimum stiffness at node A3 with Lb=2 m, Lc=1 m, and f=0.001 N

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Figure 4

Mapping of the maximum stiffness at node A3 with Lb=2 m, Lc=1 m, and f=0.001 N

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Figure 5

Mapping of the minimum stiffness at node A3 with Lb=2 m, Lc=1 m, and f=0.010 N

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Figure 6

Mapping of the stiffness index η at node A3 with Lb=2 m, Lc=1 m, and f=0.010 N

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Figure 7

Distribution of the stiffness at node A3 as a function of θ for a configuration where p=[−0.5,1]T m with Lb=2 m, Lc=1 m, and f=0.001 N

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Figure 8

Distribution of the stiffness at node A3 as a function of θ for a configuration where p=[0.20,0.90]T m with Lb=2 m, Lc=1 m, and f=0.001 N

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