Abstract
Tensegrity mechanisms have several attractive characteristics such as light-weight, deployable and easily modeled. In this paper, the stiffness and dynamics of a planar class-2 tensegrity mechanism are studied. Firstly, the solutions to the kinematic problems are found by using a method of reduced coordinates. Then, the stiffness of the mechanism is investigated on the basis of a stiffness matrix. The mechanism’s stiffnesses along directions defined nodal coordinates are computed. Finally, a dynamic model is derived and the motions of the mechanism are simulated.
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