Kinematic and static analysis of a 3-DOF tendon actuated parallel tensegrity mechanism

سال انتشار: 1398
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 566

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شناسه ملی سند علمی:

NCMEIS06_020

تاریخ نمایه سازی: 31 تیر 1398

چکیده مقاله:

In this paper, a novel tensegrity mechanism is proposed and analytical solution for its inverse kinematics and statics is presented. The proposed mechanism, for which a prototype is set up, is an under -actuated robot and three tendon actuators control the geometric center of its moving plate. Some trajectory in the workspace of mechanism is analyzed and the idea of designing mechanism using tensegrity structures is elaborated

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نویسندگان

ASGHAR MOHAMMADI

School of Mechanical Engineering, Shiraz University, Shiraz, Iran

BAHMAN NOURI RAHMAT ABADI

School of Mechanical Engineering, Shiraz University, Shiraz, Iran