Technical Brief

Definition and Computation of Tensegrity Mechanism Workspace

[+] Author and Article Information
Quentin Boehler

University of Strasbourg,
Strasbourg 67000, France
e-mail: quentin.boehler@icube.unistra.fr

Isabelle Charpentier

Strasbourg 67000, France
e-mail: icharpentier@unistra.fr

Marc S. Vedrines

INSA of Strasbourg,
Strasbourg 67000, France
e-mail: marc.vedrines@insa-strasbourg.fr

Pierre Renaud

INSA of Strasbourg,
Strasbourg 67000, France
e-mail: pierre.renaud@insa-strasbourg.fr

1Corresponding author.

Manuscript received July 17, 2014; final manuscript received February 9, 2015; published online April 6, 2015. Assoc. Editor: Pierre M. Larochelle.

J. Mechanisms Robotics 7(4), 044502 (Nov 01, 2015) (4 pages) Paper No: JMR-14-1168; doi: 10.1115/1.4029809 History: Received July 17, 2014; Revised February 09, 2015; Online April 06, 2015

Tensegrity mechanisms using linear springs as tensioned elements constitute an interesting class of mechanisms. When considered as manipulators, their workspace remains however to be defined in a generic way. In this article, we introduce a workspace definition and at the same time a computation method, based on the estimation of the workspace boundaries. The method is implemented using a continuation method. As an example, the workspace assessment of a two degrees of freedom (DOF) planar tensegrity mechanism is presented.

Copyright © 2015 by ASME
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Grahic Jump Location
Fig. 1

2DOF planar tensegrity mechanism [3]

Grahic Jump Location
Fig. 2

Computed limits and RW of the mechanism on the left figure. WFW of the mechanism on the right figure. The mechanism configuration for ρ = (75,136) mm and Fp = 0 N is superimposed on the left plot.




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