Form-Finding Analysis of a Class 2 Tensegrity Robot

Carlos G. Manríquez-Padilla, Oscar A. Zavala-Pérez, Gerardo I. Pérez-Soto, Juvenal Rodríguez-Reséndiz, Karla A. Camarillo-Gómez
2019 Applied Sciences  
In this paper, a new form-finding analysis methodology for a class 2 tensegrity robot is proposed. The methodology consists of two steps: first, the analysis of the possible geometric configurations of the robot is carried out through the results of the kinematic position analysis; and, second, from the static analysis, the equilibrium positions of the robot are found, which represents its workspace. Both kinematics and static analysis are resolved in a closed-form using basic tools of linear
more » ... gebra instead of the strategies used in literature. Four numerical experiments are presented using the finite element analysis software ANSYS©. Additionally, a comparison between the results of the form-finding analysis methodology proposed and the ANSYS© results is presented.
doi:10.3390/app9152948 fatcat:nb6dyqjmb5btdny76ejkk6b5uy