Prototype of a tensegrity manipulator to mimic bird necks

Abstract : This paper deals with the building of a 2D tensegrity mechanism. The considered mechanism is derived from the Snelson's X-shape mechanism and is used as an elementary part of the bird neck modelling. Indeed, an n-dof manipulator can be obtained by stacking in series n X-shape mechanisms. This paper explains the design and building process of a 1-dof prototype, both on hardware and software aspects, and will be used further to have experimental results on the dynamic modelling, control laws and ac-tuation strategy.
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Submitted on : Tuesday, August 6, 2019 - 4:02:10 PM
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Matthieu Furet, Damien Chablat, Benjamin Fasquelle, Parag Khanna, Christine Chevallereau, et al.. Prototype of a tensegrity manipulator to mimic bird necks. 24ème Congrès Français de Mécanique, Aug 2019, Brest, France. ⟨hal-02264288⟩

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