DocumentCode
2484563
Title
The reverse displacement analysis of a tensegrity based parallel mechanism
Author
Tran, Tony ; Crane, Carl D., III ; Duffy, Joseph
Author_Institution
Dept. of Mech. Eng., Florida Univ., Gainesville, FL, USA
Volume
14
fYear
2002
fDate
2002
Firstpage
637
Lastpage
643
Abstract
A new type of parallel mechanism is introduced that is based on the principle of tensegrity. In tensegrity structures, ties are used for elements that are in tension and struts for elements that are in compression. In this paper, three of the ties of a tensegrity structure are comprised of a compliant and a non-compliant segment that are in series. The length of the three non-compliant segments can be varied in order to control the shape and desired compliant characteristics of the tensegrity mechanism. This paper will describe the new mechanism in detail and present a reverse displacement and compliance analysis of the device.
Keywords
compliance control; robots; compliance characteristics; parallel mechanism; reverse displacement analysis; spatial compliant mechanism; tensegrity structures; tensile structures; Cranes; Equations; Geometry; Intelligent robots; Machine intelligence; Mechanical engineering; Parallel robots; Shape control; Springs; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation Congress, 2002 Proceedings of the 5th Biannual World
Print_ISBN
1-889335-18-5
Type
conf
DOI
10.1109/WAC.2002.1049507
Filename
1049507
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