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

Fuller, R. B., 1962, “Tensile-Integrity Structures,” U.S. Patent No. 3,063,521.
Pugh, A., 1976, An Introduction to Tensegrity, University of California, Berkeley, CA.
Oppenheim, I., and Williams, W., 1997, “Tensegrity Prisms as Adaptive Structures,” Adapt. Struct. Mater. Syst., ASME Int'l Mechanical Engineering Congress, November, 1997, Vol. 54, pp. 113–120. Available at http://www.ri.cmu.edu/publication_view.html?pub_id=3381
Shibata, M., Saijyo, F., and Hirai, S.2009, “Crawling by Body Deformation of Tensegrity Structure Robots,” Proceedings – IEEE International Conference on Robotics and Automation, Paper No. 5152752, pp. 4375–4380.
Sultan, C., and Skelton, R., 2004, “A Force and Torque Tensegrity Sensor,” Sens. Actuators, A, 11(2–3), pp. 220–231. [CrossRef]
Arsenault, M., 2010, “Determination of the Analytical Workspace Boundaries of a Novel 2-DoF Planar Tensegrity Mechanism,” Trans. Can. Soc. Mech. Eng., 34(1), pp. 75–92.
Arsenault, M., and Gosselin, C., 2008, “Kinematic and Static Analysis of a Three-Degree-of-Freedom Spatial Modular Tensegrity Mechanism,” Int. J. Rob. Res., 27(8), pp. 951–966. [CrossRef]
Arsenault, M., Gosselin, C., 2008, “Kinematic and Static Analysis of 3-PUPS Spatial Tensegrity Mechanism,” Mech. Mach. Theory, 44, pp. 162–179. [CrossRef]
Arsenault, M., and Gosselin, C., 2006, “Kinematic, Static and Dynamic Analysis of a Planar 2-DoF Tensegrity Mechanism,” Mech. Mach. Theory, 41(9), pp. 1072–1089. [CrossRef]
Chen, S., and Arsenault, M., 2012, “Analytical Computation of the Actuator and Cartesian Workspace Boundaries for a Planar 2-Degree-of-FreedomTranslational Tensegrity Mechanism,” ASME J. Mech. Ro., 4(1), p. 011010. [CrossRef]
Arsenault, M., and Gosselin, C., 2007, “Static Balancing of Tensegrity Mechanisms,” Mech. Des., 129, pp. 295–300.
Schenk, M., Herder, J., and Guest, S., 2006, “Design of a Statically Balanced Tensegrity Mechanism,” Proceedings of the ASME Design Engineering Technical Conference & Computers and Information in Engineering Conference September 10–13, 2006, Philadelphia, PA. Available at http://www.markschenk.com/research/files/schenk2006.pdf.
Shekarforoush, S. M. M., Eghtesad, M., and Farid, M., 2010. “Design of Statically Balanced Six-Degree-of-Freedom Parallel Mechanisms Based on Tensegrity System,” Proceedings ASME International Mechanical Engineering Congress and Exposition, 4, pp. 245–253.
Moon, Y., Crane, C. D., and Roberts, R., 2012, “Position and Force Analysis of a Planar Tensegrity-Based Compliant Mechanism,” ASME J. Mech. Robotics, 4(1), p. 011004. [CrossRef]
Moon, Y., Crane, C. D., and Roberts, R., 2011, “Analysis of a Spatial Tensegrity-Based Compliant Mechanism,” 13th World Congress in Mechanism and Machine Science, Guanajuato, México, 19–25.
Baruh, H., 1999, Analytical Dynamics, McGraw-Hill, New York.
Wittenburg, J., 2008, Dynamics of Multibody Systems, Springer, New York.

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