0
Research Papers

Introducing and Analyzing a Novel Three-Degree-of-Freedom Spatial Tensegrity Mechanism

[+] Author and Article Information
Bahman Nouri Rahmat Abadi

School of Mechanical Engineering,
Shiraz University,
Shiraz 71348-51154, Iran
e-mail: bahmannouri1@gmail.com

Mehrdad Farid

School of Mechanical Engineering,
Shiraz University,
Shiraz 71348-51154, Iran
e-mail: farid@shirazu.ac.ir

Mojtaba Mahzoon

School of Mechanical Engineering,
Shiraz University,
Shiraz 71348-51154, Iran
e-mail: mahzoon@shirazu.ac.ir

1Corresponding author.

Contributed by Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received August 8, 2012; final manuscript received October 21, 2013; published online February 12, 2014. Assoc. Editor: Javier Garcia de Jalon.

J. Comput. Nonlinear Dynam 9(2), 021017 (Feb 12, 2014) (8 pages) Paper No: CND-12-1128; doi: 10.1115/1.4025894 History: Received August 08, 2012; Revised October 21, 2013

The objective of the present paper is to introduce and analyze a particular spatial mechanism as a modification of the Stewart robot. The three limbs of the Stewart parallel robot are replaced by springs. Three hydraulic actuators control translational motion of the mechanism. Kinematics of the mechanism is studied and its static equations are derived and for a special case where external and gravitational forces are neglected, an analytical solution is presented. Also, the principle of virtual work is employed to derive the equations of motion of the proposed mechanism. Based on the dynamical equations, the motion of the system is simulated.

FIGURES IN THIS ARTICLE
<>
Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Schematic of the spatial mechanism

Grahic Jump Location
Fig. 2

Tensegrity mechanism: (a) base and (b) moving plate

Grahic Jump Location
Fig. 3

Schematic representation of the ith actuator arm

Grahic Jump Location
Fig. 4

Forces in the actuators (N), (versus time)

Grahic Jump Location
Fig. 5

Centroid's trajectory and Euler angles of the moving plate

Grahic Jump Location
Fig. 6

Centroid's velocity of the moving plate and derivative of Euler angles

Grahic Jump Location
Fig. 7

Forces in the actuators (N), (versus time)

Grahic Jump Location
Fig. 8

Centroid's trajectory and Euler angles of the moving plate for example 2

Grahic Jump Location
Fig. 9

Centroid's velocity of the moving plate and derivative of Euler angles for example 2

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In