Kinematic and static analysis of a 3-DOF tendon actuated parallel tensegrity mechanism
Publish Year: 1398
Type: Conference paper
Language: English
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Document National Code:
NCMEIS06_020
Index date: 22 July 2019
Kinematic and static analysis of a 3-DOF tendon actuated parallel tensegrity mechanism abstract
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
Kinematic and static analysis of a 3-DOF tendon actuated parallel tensegrity mechanism Keywords:
Kinematic and static analysis of a 3-DOF tendon actuated parallel tensegrity mechanism authors
ASGHAR MOHAMMADI
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
BAHMAN NOURI RAHMAT ABADI
School of Mechanical Engineering, Shiraz University, Shiraz, Iran