Kinematic and static analysis of a planar modular 2-DoF tensegrity mechanism

Tensegrity mechanisms have the advantage of being relatively lightweight due to their extensive use of cables and springs. In this work, a novel planar modular 2-DoF tensegrity mechanism that is actuated by cables is introduced. The modular architecture of the mechanism gives it increased flexibility while using cables for the actuation leads to large reachable workspaces. An analysis of the mechanism´s statics and kinematics is performed for the case where no external loads are acting