کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
800256 | 903755 | 2006 | 18 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Kinematic, static and dynamic analysis of a planar 2-DOF tensegrity mechanism
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Kinematic, static and dynamic analysis of a planar 2-DOF tensegrity mechanism Kinematic, static and dynamic analysis of a planar 2-DOF tensegrity mechanism](/preview/png/800256.png)
چکیده انگلیسی
Tensegrity mechanisms are lightweight, deployable and can be accurately modeled. Consequently, they constitute an interesting alternative to conventional mechanisms for some applications. In this work, the kinematics, statics and dynamics of a planar two-degree-of-freedom tensegrity mechanism are studied. Solutions to the direct and inverse static problems are first presented. Afterwards, the boundaries of the actuator and Cartesian workspaces of the mechanism are computed. The stiffness of the mechanism is then detailed for different situations. Finally, a dynamic model is derived and a preliminary control scheme is proposed.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 41, Issue 9, September 2006, Pages 1072–1089
Journal: Mechanism and Machine Theory - Volume 41, Issue 9, September 2006, Pages 1072–1089
نویسندگان
Marc Arsenault, Clément M. Gosselin,