Kinematics, Singularity, and Workspaces of a Planar 4-Bar Tensegrity Mechanism
Joint Authors
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-25
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Compared with conventional mechanisms, tensegrity mechanisms have many attractive characteristics such as light weight, high ratio of strength to weight, and accuracy of modeling.
In this paper, the kinematics, singularity, and workspaces of a planar 4-bar tensegrity mechanism have been investigated.
Firstly, the analytical solutions to the forward and inverse kinematic problems are found by using an energy based method.
Secondly, the definition of a tensegrity mechanism’s Jacobian is introduced.
As a consequence, the singularity analysis of the planar 4-bar tensegrity mechanism has been completed.
Thirdly, the actuator and output workspaces are mapped.
Finally, some attractive characteristics of the mechanism are concluded.
American Psychological Association (APA)
Ji, Zhifei& Li, Tuanjie& Lin, Min. 2014. Kinematics, Singularity, and Workspaces of a Planar 4-Bar Tensegrity Mechanism. Journal of Robotics،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1042885
Modern Language Association (MLA)
Ji, Zhifei…[et al.]. Kinematics, Singularity, and Workspaces of a Planar 4-Bar Tensegrity Mechanism. Journal of Robotics No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-1042885
American Medical Association (AMA)
Ji, Zhifei& Li, Tuanjie& Lin, Min. Kinematics, Singularity, and Workspaces of a Planar 4-Bar Tensegrity Mechanism. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1042885
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042885
