Kinematic and static analysis of a cable-driven 2-X tensegrity manipulator for two actuation strategies

Vimalesh Muralidharan (1) , Philippe Wenger (1) , Christine Chevallereau (1)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes

This paper analyzes the instantaneous kinematic and static performance of a two degree-of-freedom serial manipulator composed of anti-parallelogram (or X-) tensegrity joints and remotely driven with cables. Two actuation schemes with 4 cables and 3 cables, respectively, are considered for this manipulator. The physical limitations on the velocities and forces of the actuating cables are mapped onto the task space of the manipulator, to quantify the corresponding velocity and force-application capabilities of the end-effector. A comparative study is carried out between the 4-cable and 3-cable actuation schemes in terms of their velocity and force performance.

Mots clés: Tensegrity manipulator; Anti-parallelogram joint; Velocity kinematics; Static analysis

Domaines: Génie mécanique [physics.class-ph]

Vimalesh Muralidharan, Philippe Wenger, Christine Chevallereau. Kinematic and static analysis of a cable-driven 2-X tensegrity manipulator for two actuation strategies. Advances in Robot Kinematics 2022, Jun 2022, Bilbao, Spain. ⟨hal-03797235⟩