Kinematic and static analysis of a 3-DOF tendon actuated parallel tensegrity mechanism

In this paper, a novel tensegrity mechanism is proposed and analytical solution for its inverse kinematics and statics is presented. The proposed mechanism, for which a prototype is set up, is an under -actuated robot and three tendon actuators control the geometric center of its moving plate. Some trajectory in the workspace of mechanism is analyzed and the idea of designing mechanism using tensegrity structures is elaborated

Keywords:

Tensegrity mechanism , Kinematic analysis