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- Title
Kinematics, Stiffness and Dynamics Analysis of a Type of Planar Tensegrity Mechanisms.
- Authors
ZHU Wei; LI Hanbing; SHEN Huiping; LIU Jiahong; MA Zhiyuan
- Abstract
A topological structure synthesis method of a class of planar tensegrity mechanisms was proposed. A new type of planar tensegrity mechanisms composed of rigid rods and flexible components was designed and analyzed. Compared with the traditional parallel mechanisms, this type of mechanisms had the characteristics of light weight, small inertia and foldable, etc. The inverse solutions of the mechanisms in equilibrium states were solved by using the absolute instantaneous center method, and the forward solutions were analyzed and numerically verified based on the minimum potential energy method. The velocity Jacobian matrix was derived, and the singular solution configurations were analyzed. Through numerical calculation and programming, the actuator workspaces and output work spaces of the mechanisms were obtained, and the numeral results by the minimum potential l energy method and the absolute instantaneous center method were turned out to be identical. After that, the stiffnesses of the mechanisms were analyzed based on the energy formula, and the contour maps were obtained to reveal the stiffness distribution of the mechanisms n equilibrium states. Finally, the dynamics model of the mechanisms was established according to Lagrange method, the calculation results were confirmed by emulation in ADAMS.
- Subjects
KINEMATICS; JACOBIAN matrices; STIFFNESS (Engineering); POTENTIAL energy; NUMERICAL calculations; PARALLEL kinematic machines
- Publication
China Mechanical Engineering, 2020, Vol 31, Issue 11, p1296
- ISSN
1004-132X
- Publication type
Article
- DOI
10.3969/j.issn.1004-132X.2020.11.005