Title :
A Three-DoF Actuated Robot
Author :
Mirats-Tur, Josep M. ; Camps, Josep
Author_Institution :
Cornella de Llobregat, Barcelona, Spain
Abstract :
This article presents the realization of a tensegrity-based robot composed of a three-bar symmetric prismlike minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed robot. After a detailed implementation description of the physical robot, some trajectories within its workspace are analyzed. Although our long-term objective is to provide mobile tensegrity-based robots to the community, this work studies a case in which the robot is anchored to the ground. This provides us with a first insight of how these structures should be actuated and sensed to produce movement.
Keywords :
actuators; design; robot kinematics; tensile strength; minimal tensegrity configuration; mobile tensegrity based robot; physical robot; prismlike minimal tensegrity configuration; robot workspace; three DoF actuated robot; Actuators; Kinematics; Mobile robots;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2011.940991