Tensegrity mechanisms are interesting candidates for high-acceleration robotic applications since their use of cables allows for a reduction in the weight and inertia of their mobile parts. In this work, a planar two-degree-of-freedom translational tensegrity mechanism that could be used for pick and place applications is introduced. The mechanism uses a strategic actuation scheme to generate the translational motion as well as to ensure that the cables remain taut at all times. Analytical solutions to the direct and inverse kinematic problems are developed, and the mechanism’s workspace boundaries are computed in both the actuator and Cartesian spaces. The influence of the mechanism’s geometry on the size and shape of the Cartesian workspace are then studied. Based on workspace size only, it is found that the optimal mechanism geometry corresponds to a relatively large ratio between the length of the struts and the width of the base and end-effector.

References

References
1.
Fuller
,
B.
, 1962, “
Tensile-Integrity Structures
,” US Patent No. 3,063,521.
2.
Snelson
,
K.
, 1965, “
Continuous Tension, Discontinuous Compression Structures
,” US Patent No. 3,169,611.
3.
Oppenheim
,
I.
, and
Williams
,
W.
, 1997, “
Tensegrity Prisms as Adaptive Structures
,”
ASME Adapt. Struct. Mater. Syst.
,
54
, pp.
113
120
.
4.
Marshall
,
M.
, and
Crane
,
C. D.
III
, 2004, “
Design and Analysis of a Hybrid Parallel Platform That Incorporates Tensegrity
,”
Proceedings of the ASME Design Engineering Technical Conference
,
American Society of Mechanical Engineers
, Vol.
2A
, pp.
535
540
.
5.
Arsenault
,
M.
, and
Gosselin
,
C. M.
, 2006, “
Kinematic and Static Analysis of a Planar Modular 2-DoF Tensegrity Mechanism
,” Proceedings of the IEEE International Conference on Robotics and Automation,
Institute of Electrical and Electronics Engineers Inc.
, Vol.
2006
, pp.
4193
4198
.
6.
Arsenault
,
M.
, and
Gosselin
,
C. M.
, 2008, “
Kinematic and Static Analysis of a Three-Degree-of-Freedom Spatial Modular Tensegrity Mechanism
,”
Int. J. Robot. Res.
,
27
(
8
), pp.
951
966
.
7.
Arsenault
,
M.
, and
Gosselin
,
C. M.
, 2009, “
Kinematic and Static Analysis of a 3-PUPS Spatial Tensegrity Mechanism
,”
Mech. Mach. Theory
,
44
(
1
), pp.
162
179
.
8.
Mirats-Tur
,
J.
, and
Camps
,
J.
, 2011, “
A Three-DoF Actuated Robot
,”
IEEE Rob. Autom. Mag.
,
18
(
3
), pp.
96
103
.
9.
Sultan
,
C.
,
Corless
,
M.
, and
Skelton
,
R.
, 2000, “
Tensegrity Flight Simulator
,”
J. Guid. Control Dyn.
,
23
(
6
), pp.
1055
1064
.
10.
Sultan
,
C.
,
Corless
,
M.
, and
Skelton
,
R.
, 1999, “
Peak to Peak Control of an Adaptive Tensegrity Space Telescope
,” Proceedings of the SPIE Conference of Mathematics and Control in Smart Structures, Vol.
3667
, pp.
190
201
.
11.
Paul
,
C.
,
Lipson
,
H.
, and
Valero-Cuevas
,
F.
, 2006, “
Design and Control of Tensegrity Robots for Locomotion
,”
IEEE Trans. Robot.
,
22
(
5
), pp.
944
957
.
12.
Kawamura
,
S.
,
Choe
,
W.
,
Tanaka
,
S.
, and
Pandian
,
S.
, 1995, “
Development of an Ultrahigh Speed Robot Falcon Using Wire Drive System
,” Proceedings of the IEEE International Conference on Robotics and Automation,
IEEE
, Vol.
1
, pp.
215
220
.
13.
Verhoeven
,
R.
,
Hiller
,
M.
, and
Tadokoro
,
S.
, 1998, “
Workspace, Stiffness, Singularities and Classification of Tendon-Driven Stewart Platforms
,” Proceedings of the 6th International Symposium on Advances in Robot Kinematics, pp.
105
114
.
14.
Sultan
,
C.
, and
Skelton
,
R.
, 1998, “
Tendon Control Deployment of Tensegrity Structures
,” Proceedings of the SPIE Conference of Mathematics and Control in Smart Structures, Vol.
3323
, pp.
455
466
.
15.
Tibert
,
G.
, and
Pellegrino
,
S.
, 2003, “
Review of Form-Finding Methods for Tensegrity Structures
,”
Int. J. Space Struct.
,
18
(
4
), pp.
209
223
.
16.
Bouchard
,
S.
, and
Gosselin
,
C. M.
, 2005, “
A Simple Control Strategy for Overconstrained Parallel Cable Mechanisms
,” Proceedings of the 20th Canadian Congress of Applied Mechanics (CANCAM 2005).
17.
Aldrich
,
J.
,
Skelton
,
R.
, and
Kreutz-Delgado
,
K.
, 2003, “
Control Synthesis for a Class of Light and Agile Robotic Tensegrity Structures
,” Proceedings of the American Control Conference, Vol.
6
, pp.
5245
5251
.
18.
D.A.
Brannan
,
M.F.
Esplen
, and
J.J.
Gray
, 1999,
Geometry
,
Cambridge University Press
,
Cambridge, UK
.
You do not currently have access to this content.