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Research Papers

Kinematic, Stiffness, and Dynamic Analyses of a Compliant Tensegrity Mechanism

[+] Author and Article Information
Bahman Nouri Rahmat Abadi

School of Mechanical Engineering,
Shiraz University,
Shiraz 71348-51154, Iran
e-mail: bahmannouri1@gmail.com

S. M. Mehdi Shekarforoush

School of Mechanical Engineering,
Shiraz University,
Shiraz 71348-51154, Iran
e-mail: mshekarforoush@yahoo.com

Mojtaba Mahzoon

School of Mechanical Engineering,
Shiraz University,
Shiraz 71348-51154, Iran
e-mail: mahzoon@shirazu.ac.ir

Mehrdad Farid

School of Mechanical Engineering,
Shiraz University,
Shiraz 71348-51154, Iran
e-mail: farid@shirazu.ac.ir

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 11, 2012; final manuscript received May 2, 2014; published online June 5, 2014. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 6(4), 041001 (Jun 05, 2014) (8 pages) Paper No: JMR-12-1027; doi: 10.1115/1.4027699 History: Received March 11, 2012; Revised May 02, 2014

The objective of this study is to present an analytical procedure for analysis of a compliant tensegrity mechanism focusing on its stiffness and dynamic characteristics. The screw calculus is used to derive the static equations and stiffness matrix of a full degree-of-freedom tensegrity mechanism, and the equations of motion are derived based on the principle of virtual work. Finally, some numerical examples are solved for the inverse dynamics of the mechanism.

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References

Figures

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Fig. 1

A CAD model of 3-3 Stewart platform

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Fig. 2

A CAD model of the presented tensegrity mechanism

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Fig. 3

A graphical plan of the proposed tensegrity mechanism

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Fig. 4

Schematic representation of a typical piston drive and tendon drive limb

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Fig. 5

Actuating forces versus time

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Fig. 6

The variation of lengths of the cables and pistons in the limbs

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Fig. 7

Actuating forces versus time

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Fig. 8

The variation of lengths of the cables and pistons in the limbs

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