Kinematic analysis of planar tensegrity 2-X manipulators

Abstract : This paper analyzes the kinematics of planar tensegrity ma-nipulators made of two Snelson's X-shape mechanisms in series. The variable instantaneous center of rotation of each mechanism renders the kinematic analysis of the resulting manipulator more challenging. A general formulation of the direct kinematics is set. A method is proposed to solve the inverse kinematic problem in a symbolic way and up to four inverse kinematic solutions are found. The singularities of the manipulator are shown to divide the joint space into two singularity-free components, showing for the first time a planar positioning manipulator that can be cuspidal. The workspace is determined and plotted for different values of the geometric parameters.
Liste complète des métadonnées

Cited literature [18 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01791317
Contributor : Philippe Wenger <>
Submitted on : Monday, May 14, 2018 - 3:23:12 PM
Last modification on : Tuesday, March 26, 2019 - 9:25:22 AM
Document(s) archivé(s) le : Monday, September 24, 2018 - 4:41:40 PM

File

ARK_012.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01791317, version 1

Citation

Matthieu Furet, Max Lettl, Philippe Wenger. Kinematic analysis of planar tensegrity 2-X manipulators. 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨hal-01791317⟩

Share

Metrics

Record views

113

Files downloads

138