Abstract
Tensegrity-based mechanisms are proposed to be used in the field of robotics due to their advantages such as deployable, easily tunable, redundant, and easily modelled. In this work, the kinematic and dynamic analysis of a planar tensegrity-based mechanism was researched. At first, the forward and inverse kinematic analysis of the mechanism was studied by using the energy method. Then, stiffness of the mechanism was investigated. Afterwards, the dynamic model was developed and the numerical simulation was conducted. The results indicate that the stiffness of the mechanism is always a maximum when the mechanism is in equilibrium and it decreases with an increase in the external load. The dynamic model lays the foundation for the control of the mechanism.
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