Document Type
Event
Keywords
planar mechanisms, tensegrity
Description
This paper presents the equilibrium analysis of a planar tensegrity mechanism. The device consists of a base and top platform that are connected by one connector leg (whose length can be controlled via a prismatic joint) and two spring elements whose linear spring constants and free lengths are known. The paper presents two cases, one where the spring free lengths are both zero, and the other where the spring free lengths are nonzero. The purpose of the paper is to show the enormous increase in complexity that results from nonzero free lengths.
DOI
https://doi.org/10.5038/DXZM5253
Kinematic Analysis of a Planar Tensegrity Mechanism
This paper presents the equilibrium analysis of a planar tensegrity mechanism. The device consists of a base and top platform that are connected by one connector leg (whose length can be controlled via a prismatic joint) and two spring elements whose linear spring constants and free lengths are known. The paper presents two cases, one where the spring free lengths are both zero, and the other where the spring free lengths are nonzero. The purpose of the paper is to show the enormous increase in complexity that results from nonzero free lengths.