Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Arsenault, M.: Design of convex variable radius drum mechanisms. Mechanism and Machine Theory 129, 175–190 (2018)
Arsenault, M., Gosselin, C.M.: Kinematic and static analysis of a planar modular 2-DoF tensegrity mechanism. In: Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 4193–4198 (2006)
Arsenault, M., Gosselin, C.M.: Kinematic and static analysis of a three-degree-of-freedom spatial modular tensegrity mechanism. International Journal of Robotics Research 27(8), 951–966 (2008)
Arsenault, M., Mohr, C.: Design and fabrication of a functional prototype for a 3-DoF translational tensegrity robot. In: Proceedings of the 2016 CSME International Congress (2016)
Berti, A., Merlet, J.P., Carricato, M.: Solving the direct geometrico-static problem of underconstrained cable-driven parallel robots by interval analysis. International Journal of Robotics Research 35(6), 723–739 (2016)
Calladine, C., Pellegrino, S.: First-order infinitesimal mechanisms. International Journal of Solids and Structures 27(4), 505–515 (1991)
Fuller, B.: Tensile-integrity structures. United States Patent No. 3,063,521 (1962)
Gouttefarde, M., Daney, D., Merlet, J.P.: Interval-analysis-based determination of the wrench-feasible workspace of parallel cable-driven robots. IEEE Transactions on Robotics 27(1), 1–13 (2011)
Hansen, E., Walster, G.W.: Global Optimization Using Interval Analysis, second edn. Marcel Dekker Inc., New York (2004)
Mohr, C.A., Arsenault, M.: Kinematic analysis of a translational 3-DoF tensegrity mechanism. Transactions of the CSME 35(4), 573–584 (2011)
Moore, R.E., Kearfott, R.B., Cloud, M.J.: Introduction to Interval Analysis. Society for Industrial and Applied Mathematics, Philadelphia (2009)
Paul, C., Lipson, H., Valero-Cuevas, F.: Design and control of tensegrity robots for locomotion. IEEE Transactions on Robotics 22(5), 944–957 (2006)
Pellegrino, S.: Analysis of prestressed mechanisms. International Journal of Solids and Structures 26(12), 1329–1350 (1990)
Pugh, A.: An introduction to tensegrity. University of California Press (1976)
Rohn, J.: An algorithm for computing the hull of the solution set of interval linear equations. Linear Algebra and Its Applications 435(2), 193–201 (2011)
Rovira, A.G., Tur, J.M.: Control and simulation of a tensegrity-based mobile robot. Robotics and Autonomous Systems 57, 526–535 (2009)
Rump, S.: INTLAB – INTerval LABoratory. In: T. Csendes (ed.) Developments in Reliable Computing, pp. 77–104. Kluwer Academic Publishers, Dordrecht (1999)
Schmidt, V., Muller, B., Pott, A.: Solving the forward kinematics of cable-driven parallel robots with neural networks and interval arithmetic. pp. 103–110. Kluwer Academic Publishers (2014)
Snelson, K.: Continuous tension, discontinuous compression structures. United States Patent No. 3,169,611 (1965)
Sultan, C., Corless, M., Skelton, R.: Tensegrity flight simulator. Journal of Guidance, Control and Dynamics 23(6), 1055–1064 (2000)
Wenger, P., Chablat, D.: Kinetostatic analysis and solution classification of a class of planar tensegrity mechanisms. Robotica (2018)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Arsenault, M. (2019). Computation of the interference-free wrench feasible workspace of a 3-DoF translational tensegrity robot. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_16
Download citation
DOI: https://doi.org/10.1007/978-3-030-20751-9_16
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20750-2
Online ISBN: 978-3-030-20751-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)