Tensegrity mechanisms using linear springs as tensioned elements constitute an interesting class of mechanisms. When considered as manipulators, their workspace remains however to be defined in a generic way. In this article, we introduce a workspace definition and at the same time a computation method, based on the estimation of the workspace boundaries. The method is implemented using a continuation method. As an example, the workspace assessment of a two degrees of freedom (DOF) planar tensegrity mechanism is presented.
Definition and Computation of Tensegrity Mechanism Workspace
Manuscript received July 17, 2014; final manuscript received February 9, 2015; published online April 6, 2015. Assoc. Editor: Pierre M. Larochelle.
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Boehler, Q., Charpentier, I., Vedrines, M. S., and Renaud, P. (November 1, 2015). "Definition and Computation of Tensegrity Mechanism Workspace." ASME. J. Mechanisms Robotics. November 2015; 7(4): 044502. https://doi.org/10.1115/1.4029809
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