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
Your Session has timed out. Please sign back in to continue.


Motro, R., 2003, Tensegrity: Structural Systems for the Future, Butterworth-Heinemann, London.
Skelton, R. E., and Oliveira, M. C. D., 2009, Tensegrity Systems, Springer, New York.
Arsenault, M., and Gosselin, C., 2006, “Kinematic, Static and Dynamic Analysis of a Planar 2-DOF Tensegrity Mechanism,” Mech. Mach. Theory., 41(9), pp. 1072–1089. [CrossRef]
Crane, C., Bayat, J., Vikas, V., and Roberts, R., 2008, “Kinematic Analysis of a Planar Tensegrity Mechanism With Pre-Stressed Springs,” Advances in Robot Kinematics: Analysis and Design, J.Lenarcic and P.Wenger, eds., Springer, Dordrecht, pp. 419–427.
Ji, Z., Li, T., and Lin, M., 2014, “Kinematics, Singularity, and Workspaces of a Planar 4-Bar Tensegrity Mechanism,” J. Rob., 2014, p. 967251 [CrossRef].
Koizumi, Y., Shibata, M., and Hirai, S., 2012, “Rolling Tensegrity Driven by Pneumatic Soft Actuators,” IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, May 14–18, pp. 1988–1993 [CrossRef].
Aldrich, J., Skelton, R. E., and Kreutz-Delgado, K., 2003, “Control Synthesis for a Class of Light and Agile Robotic Tensegrity Structures,” American Control Conference (ACC), Denver, CO, June 4–6, pp. 5245–5251 [CrossRef].
Tibert, A., and Pellegrino, S., 2003, “Review of Form-Finding Methods for Tensegrity Structures,” Int. J. Space Struct., 18(4), pp. 209–223. [CrossRef]
Mohr, C. A., and Arsenault, M., 2011, “Kinematic Analysis of a Translational 3-DOF Tensegrity Mechanism,” Trans. Can. Soc. Mech. Eng., 35(4), pp. 573–584. http://www.tcsme.org/Papers/Vol35/Vol35No4Paper8.pdf
Ebert-Uphoff, I., and Voglewede, P., 2004, “On the Connections Between Cable-Driven Robots, Parallel Manipulators and Grasping,” IEEE International Conference on Robotics and Automation (ICRA '04), New Orleans, LA, Apr. 26–May 1, pp. 4521–4526. [CrossRef]
Charpentier, I., 2012, “On Higher-Order Differentiation in Nonlinear Mechanics,” Optim. Methods Software, 27(2), pp. 221–232. [CrossRef]
Haug, E. J., Luh, C.-M., Adkins, F. A., and Wang, J.-Y., 1996, “Numerical Algorithms for Mapping Boundaries of Manipulator Workspaces,” ASME J. Mech. Des., 118(2), pp. 228–234. [CrossRef]
Seydel, R., 2010, Practical Bifurcation and Stability Analysis, Springer, New York.


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.




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In