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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.
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Contributor : Philippe Wenger <>
Submitted on : Monday, May 14, 2018 - 3:23:12 PM
Last modification on : Tuesday, January 5, 2021 - 4:26:07 PM
Long-term archiving on: : Monday, September 24, 2018 - 4:41:40 PM


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  • HAL Id : hal-01791317, version 1


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⟩



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