KINEMATIC AND STATIC ANALYSIS OF A SPATIAL 3-DOF TENSEGRITY MECHANISM

This paper presents a spatial parallel mechanism based on tensegrity prism. Because of extensive use of cables and springs, the mechanism is very light which make it an alternative to conventional mechanism for certain type of applications. This paper deals with kinematic analysis of the proposed mechanism. Static equations are derived by minimizing the potential energy. In a special case where gravitational and external forces aren’t considered, an analytical solution for forward and inverse kinematics is presented and some numerical examples are solved.

کلیدواژه ها:

Kinematic analysis ، Tensegrity mechanism