Article | REF: S7817 V1

Tensegrity mechanisms for robotic manipulation

Authors: Quentin BOEHLER, Marc VEDRINES, Salih ABDELAZIZ, Philippe POIGNET, Pierre RENAUD

Publication date: November 10, 2018, Review date: April 12, 2021

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8. Glossary

Tensegrity; Tenségrité

A system in a stable state of equilibrium comprising a discontinuous set of elements in compression within a continuous set of elements in tension.

Tensegrity mechanism

Tensegrity-based system in which at least one of the elements is operated to modify the system's configuration and/or properties.

State of self-stress

State of a system when it is in equilibrium in the absence of external stresses, solely under the action of the internal forces of its elements. Internal forces compatible with this state are called "prestressing" forces.

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Acronyms, notations and symbols

Bibliography

(1) - MOTRO (R.) - Tensegrity: Structural Systems for the Future. - Elsevier (2003).
(2) - SKELTON (R. E.), HELTON (J. W.), ADHIKARI (R.), PINAUD (J.), CHAN (W.) - An Introduction to the Mechanics of Tensegrity Structures, - in The Mechanical...

Software tools

NASA Tensegrity Robotics Toolkit (NTRTsim), OpenSource software: https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim (page consulted on January 31, 2018)