DocumentCode
2108621
Title
Kinematic and static analysis of a planar modular 2-DoF tensegrity mechanism
Author
Arsenault, Marc ; Gosselin, Clément M.
Author_Institution
Departement de Genie Mecanique, Laval Univ., Que.
fYear
2006
fDate
15-19 May 2006
Firstpage
4193
Lastpage
4198
Abstract
Tensegrity mechanisms have the advantage of being relatively lightweight due to their extensive use of cables and springs. In this work, a novel planar modular 2-DoF tensegrity mechanism that is actuated by cables is introduced. The modular architecture of the mechanism gives it increased flexibility while using cables for the actuation leads to large reachable workspaces. An analysis of the mechanism´s statics and kinematics is performed for the case where no external loads are acting
Keywords
robot dynamics; robot kinematics; kinematic analysis; planar modular 2-dof tensegrity mechanism; static analysis; Assembly; Cables; Computer architecture; History; Kinematics; Performance analysis; Springs; Transportation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642347
Filename
1642347
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