Kinematic and static analysis of a 3-DOF tendon actuated parallel tensegrity mechanism
عنوان مقاله: Kinematic and static analysis of a 3-DOF tendon actuated parallel tensegrity mechanism
شناسه ملی مقاله: NCMEIS06_020
منتشر شده در ششمین کنفرانس سالانه ملی مهندسی مکانیک، صنایع و هوافضا ایران در سال 1398
شناسه ملی مقاله: NCMEIS06_020
منتشر شده در ششمین کنفرانس سالانه ملی مهندسی مکانیک، صنایع و هوافضا ایران در سال 1398
مشخصات نویسندگان مقاله:
ASGHAR MOHAMMADI - School of Mechanical Engineering, Shiraz University, Shiraz, Iran
BAHMAN NOURI RAHMAT ABADI - School of Mechanical Engineering, Shiraz University, Shiraz, Iran
خلاصه مقاله:
ASGHAR MOHAMMADI - School of Mechanical Engineering, Shiraz University, Shiraz, Iran
BAHMAN NOURI RAHMAT ABADI - School of Mechanical Engineering, Shiraz University, Shiraz, Iran
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
کلمات کلیدی: Tensegrity mechanism; Kinematic analysis
صفحه اختصاصی مقاله و دریافت فایل کامل: https://civilica.com/doc/902771/