Quizzed 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 | Lire en français

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2. Modeling and simulation

The modeling and analysis of a tensegrity mechanism is fundamentally different from that of a rigid, non-prestressed manipulator. The configuration of the mechanism is determined the state of the actuators, the geometric and elastic parameters of the system, and the external loads to which it is subjected.

2.1 Finding the right balance: form-finding methods

The modeling, analysis and design of tensegrity systems are based on the coupling between forces and form that governs the behavior of this self-constrained system. This is also referred to as "morphological-mechanical coupling"

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Modeling and simulation

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page Definitions and benefits of tensegrity mechanisms

Analysis

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)