Abstract
This paper presents the equilibrium analysis of a planar tensegrity mechanism. The device consists of a base and top platform that are connected in parallel by one connector leg (whose length can be controlled via a prismatic joint) and two spring elements whose linear spring constants and free lengths are known. The paper presents three cases: (1) the spring free lengths are both zero, (2) one of the spring free lengths is zero and the other is non-zero, and (3) both free lengths are non-zero. The purpose of the paper is to show the increase in complexity that results from non-zero free lengths. It is shown that 6 equilibrium configurations exist for case 1, 20 equilibrium configurations exist for case 2, and 62 configurations exist for case 3.
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