Abstract
This paper analyzes the kinematics of planar tensegrity manipulators made of two Snelson’s X-shape mechanisms in series. The variable instantaneous center of rotation of each mechanism renders the kinematic analysis of the resulting manipulator more challenging. A general formulation of the direct kinematics is set. A method is proposed to solve the inverse kinematic problem in a symbolic way and up to four inverse kinematic solutions are found. The singularities of the manipulator are shown to divide the joint space into two singularity-free components, showing for the first time a planar positioning manipulator that can be cuspidal. The workspace is determined and plotted for different values of the geometric parameters.
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Acknowledgement
This work was conducted with the support of the French National Research Agency (AVINECK Project ANR-16-CE33-0025).
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Furet, M., Lettl, M., Wenger, P. (2019). Kinematic Analysis of Planar Tensegrity 2-X Manipulators. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_18
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DOI: https://doi.org/10.1007/978-3-319-93188-3_18
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