Abstract
In this work, the kinematics and stiffness of a planar tensegrity parallel mechanism are investigated. The analytical solutions to the forward and reverse kinematics were found using an energy method. The singular configurations and workspaces were detailed. Afterwards, the stiffness of the mechanism was analyzed. It is demonstrated that the stiffness is at a local maximum when the mechanism is in stable equilibrium and at a local minimum when the mechanism is in unstable equilibrium. The stiffness distributions are approximately symmetric about a certain line inside the actuator and Cartesian workspaces. Large values of the actuator length should be selected for high stiffness applications. The singular configurations, workspaces and stiffness variations inside the actuator and Cartesian workspaces lay a foundation for the use of the mechanism.
Highlights
The term tensegrity was created by Fuller [1]
It is demonstrated that the stiffness is at a local maximum when the mechanism is in stable equilibrium and at a local minimum when the mechanism is in unstable equilibrium
It can be obtained that the stiffness K is always at a local minimum when the mechanism is in unstable equilibrium
Summary
The term tensegrity was created by Fuller [1]. It seems that he was inspired by Snelson’s sculpture [2]. A tensegrity parallel mechanism is composed of two platforms (a mobile platform and fixed platform) connected by a set of prismatic actuators and springs. The use of springs allows the mobile platform to generate translational and rotational movements with actuators locked Due to this attractive nature, tensegrity parallel mechanisms can be possibly used as rides at amusement parks. The main objective of this paper is to investigate the kinematics, workspaces and stiffness of a planar tensegrity parallel mechanism. If the prismatic actuator is replaced by a line generator, the mechanism shown in Figure 1 can be used as a wave energy harvester. By using the line generator, the kinematic energy of the system can be changed into electric energy This possible application is attractive since the water wave energy is clean and recycled
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