Computation of the interference-free wrench feasible workspace of a 3-DoF translational tensegrity robot
This paper proposes a method to compute the workspace of a three-degree-of-freedom translational tensegrity robot. Equivalent compression spring legs incorporating variable radius drums are used to emulate linear compression springs that replace the struts of the tensegrity system from which the robot is inspired. The workspace is computed based on the interval analysis evaluation of constraints related to the kinematics of the equivalent spring legs, the avoidance of interferences between the robot’s components and the need to generate required wrenches on the robot’s mobile platform while ensuring acceptable cable tensions. Sufficient conditions for the satisfaction of these constraints that may be suitably evaluated using interval analysis are developed. Results suggest that the size of the workspace may be increased by introducing pre-load in the robot’s components.
Keywordstensegrity workspace computation interval analysis wrench feasible workspace cable interference
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