Research Papers

Analytical Computation of the Actuator and Cartesian Workspace Boundaries for a Planar 2-Degree-of-Freedom Translational Tensegrity Mechanism

[+] Author and Article Information
Samuel Chen

 Schulich School of Medicine & Dentistry, The University of Western Ontario, Ontario, Canada N6A 5C1schen2014@meds.uwo.ca

Marc Arsenault1

 Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada K7K 7B4marc.arsenault@rmc.ca


Corresponding author.

J. Mechanisms Robotics 4(1), 011010 (Feb 03, 2012) (8 pages) doi:10.1115/1.4005335 History: Received March 10, 2011; Revised September 29, 2011; Published February 03, 2012; Online February 03, 2012

Tensegrity mechanisms are interesting candidates for high-acceleration robotic applications since their use of cables allows for a reduction in the weight and inertia of their mobile parts. In this work, a planar two-degree-of-freedom translational tensegrity mechanism that could be used for pick and place applications is introduced. The mechanism uses a strategic actuation scheme to generate the translational motion as well as to ensure that the cables remain taut at all times. Analytical solutions to the direct and inverse kinematic problems are developed, and the mechanism’s workspace boundaries are computed in both the actuator and Cartesian spaces. The influence of the mechanism’s geometry on the size and shape of the Cartesian workspace are then studied. Based on workspace size only, it is found that the optimal mechanism geometry corresponds to a relatively large ratio between the length of the struts and the width of the base and end-effector.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

Schematic diagram of the planar 2-DoF translational tensegrity mechanism

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Figure 2

Illustration of the uniqueness of the solution to the IKP

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Figure 3

Illustration of condition II-ii

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Figure 5

Illustration of condition IV-iii

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Figure 8

Cartesian workspace for the case where Lb  > Lc

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Figure 10

Cartesian workspace for varying values of α

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Figure 11

Plot of η as a function of α

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Figure 12

Illustration of different mechanism configurations inside its workspace (α = 2)

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Figure 4

Illustration of a configuration belonging to A7

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Figure 6

Actuator workspace for the case where Lb  > Lc

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Figure 7

Example configuration for which ρ1  = Lb Lc

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Figure 9

Actuator workspace for varying values of α



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