Work

Form-Finding Analysis of a Class 2 Tensegrity Robot

Year: 2019

Type: article

Abstract: In this paper, a new form-finding analysis methodology for a class 2 tensegrity robot is proposed. The methodology consists of two steps: first, the analysis of the possible geometric configurations of the robot is carried out through the results of the kinematic position analysis; and, second, from the static analysis, the equilibrium positions of the robot are found, which represents its workspace. Both kinematics and static analysis are resolved in a closed-form using basic tools of linear algebra instead of the strategies used in literature. Four numerical experiments are presented using the finite element analysis software ANSYS©. Additionally, a comparison between the results of the form-finding analysis methodology proposed and the ANSYS© results is presented.

Source: Applied Sciences

DOI: 10.3390/app9152948

Authors: Carlos G. Manríquez-Padilla, Oscar A. Zavala-Pérez, Gerardo I. Pérez-Soto, Juvenal Rodríguez-Reséndiz, Karla A. Camarillo-Gómez

Institutions: Tecnológico Nacional de México, Technological Institute of Celaya, Autonomous University of Queretaro

Language: English

Topic: Structural Analysis and Optimization

Subfield: Civil and Structural Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,520

OpenAlex ID: W2963079341

FWCI: 0.176

Cites: 23

Cited by: 8

Related to: 10