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The International Journal of Robotics Research
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Kinematic and Static Analysis of a Three-degree-of-freedom Spatial Modular Tensegrity Mechanism

Marc Arsenault

Department of mechanical engineering, The Royal Military College of Canada, Kingston, Ontario, Canada K7K 7B4, marc.arsenault{at}rmc.ca

Clément M. Gosselin

Département de genie mécanique, Université Laval, Quebec, Quebec, Canada G1K 7P4 gosselin{at}gmc.ulaval.ca

Tensegrity mechanisms benefit from a reduced inertia due to their extensive use of cables and springs. However, they must be prestressed at all times in order to keep the cables in tension. For a given mechanism architecture, this is only possible in a specific set of configurations such that the analysis of these mechanisms is relatively complex. This paper presents the development and analysis of a new three-degree-of-freedom positional tensegrity mechanism that has a modular architecture. The mechanism, actuated by cables, has a relatively large workspace. For the special case where external and gravitational forces are neglected, solutions are given for the mechanism's equilibrium configuration both for given actuator positions as well as for a specified position of its effector. It is shown that the mechanism can be considered as an assembly of construction elements based on Snelson's X-shape tensegrity system and that these behave independently from one another.

Key Words: tensegrity mechanism • kinematic analysis • workspace computation

The International Journal of Robotics Research, Vol. 27, No. 8, 951-966 (2008)
DOI: 10.1177/0278364908091152
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