Kinematic and dynamic analysis of a planar tensegrity-based mechanism | Zendy

Hui Lei | Zendy; Min Lin | Zendy; Zhifei Ji | Zendy

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Kinematic and dynamic analysis of a planar tensegrity-based mechanism

Author(s) -

Hui Lei,

Min Lin,

Zhifei Ji

Publication year - 2021

Publication title -

journal of physics conference series

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.21

H-Index - 85

eISSN - 1742-6596

pISSN - 1742-6588

DOI - 10.1088/1742-6596/1884/1/012020

Subject(s) - tensegrity , mechanism (biology) , kinematics , stiffness , planar , computer science , inverse kinematics , structural engineering , mechanism design , control theory (sociology) , simulation , engineering , physics , artificial intelligence , classical mechanics , mathematics , control (management) , computer graphics (images) , quantum mechanics , mathematical economics

Tensegrity-based mechanisms are proposed to be used in the field of robotics due to their advantages such as deployable, easily tunable, redundant, and easily modelled. In this work, the kinematic and dynamic analysis of a planar tensegrity-based mechanism was researched. At first, the forward and inverse kinematic analysis of the mechanism was studied by using the energy method. Then, stiffness of the mechanism was investigated. Afterwards, the dynamic model was developed and the numerical simulation was conducted. The results indicate that the stiffness of the mechanism is always a maximum when the mechanism is in equilibrium and it decreases with an increase in the external load. The dynamic model lays the foundation for the control of the mechanism.

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