Abstract
Tensegrity mechanisms are slowly emerging as potential alternatives to more conventional mechanisms for certain types of applications where a reduced inertia of the mobile parts and a high payload to weight ratio are sought. With this in mind, a two-degree-of-freedom planar tensegrity mechanism is developed using a simple actuation strategy to keep the mechanism in self-stressed configurations. Solutions to the mechanism’s direct and inverse kinematic problems are first developed and are then used to determine analytical expressions for its workspace boundaries.
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