Title :
The reverse displacement analysis of a tensegrity based parallel mechanism
Author :
Tran, Tony ; Crane, Carl D., III ; Duffy, Joseph
Author_Institution :
Dept. of Mech. Eng., Florida Univ., Gainesville, FL, USA
Abstract :
A new type of parallel mechanism is introduced that is based on the principle of tensegrity. In tensegrity structures, ties are used for elements that are in tension and struts for elements that are in compression. In this paper, three of the ties of a tensegrity structure are comprised of a compliant and a non-compliant segment that are in series. The length of the three non-compliant segments can be varied in order to control the shape and desired compliant characteristics of the tensegrity mechanism. This paper will describe the new mechanism in detail and present a reverse displacement and compliance analysis of the device.
Keywords :
compliance control; robots; compliance characteristics; parallel mechanism; reverse displacement analysis; spatial compliant mechanism; tensegrity structures; tensile structures; Cranes; Equations; Geometry; Intelligent robots; Machine intelligence; Mechanical engineering; Parallel robots; Shape control; Springs; Stability;
Conference_Titel :
Automation Congress, 2002 Proceedings of the 5th Biannual World
Print_ISBN :
1-889335-18-5
DOI :
10.1109/WAC.2002.1049507
