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Kinematics,singularity,and workspaces of a planar 4-bar tensegrity mechanism
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نویسنده
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ji z. ,li t. ,lin m.
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منبع
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journal of robotics - 2014 - دوره : 2014 - شماره : 0
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چکیده
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Compared with conventional mechanisms,tensegrity mechanisms have many attractive characteristics such as light weight,high ratio of strength to weight,and accuracy of modeling. in this paper,the kinematics,singularity,and workspaces of a planar 4-bar tensegrity mechanism have been investigated. firstly,the analytical solutions to the forward and inverse kinematic problems are found by using an energy based method. secondly,the definition of a tensegrity mechanism's jacobian is introduced. as a consequence,the singularity analysis of the planar 4-bar tensegrity mechanism has been completed. thirdly,the actuator and output workspaces are mapped. finally,some attractive characteristics of the mechanism are concluded. © 2014 zhifei ji et al.
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آدرس
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school of electro-mechanical engineering,xidian university,p.o. box 188, China, school of electro-mechanical engineering,xidian university,p.o. box 188, China, school of electro-mechanical engineering,xidian university,p.o. box 188, China
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Authors
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