The objective of this study is to present an analytical procedure for analysis of a compliant tensegrity mechanism focusing on its stiffness and dynamic characteristics. The screw calculus is used to derive the static equations and stiffness matrix of a full degree-of-freedom tensegrity mechanism, and the equations of motion are derived based on the principle of virtual work. Finally, some numerical examples are solved for the inverse dynamics of the mechanism.
Kinematic, Stiffness, and Dynamic Analyses of a Compliant Tensegrity Mechanism
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 11, 2012; final manuscript received May 2, 2014; published online June 5, 2014. Assoc. Editor: Andrew P. Murray.
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Nouri Rahmat Abadi, B., Mehdi Shekarforoush, S. M., Mahzoon, M., and Farid, M. (June 5, 2014). "Kinematic, Stiffness, and Dynamic Analyses of a Compliant Tensegrity Mechanism." ASME. J. Mechanisms Robotics. November 2014; 6(4): 041001. https://doi.org/10.1115/1.4027699
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