Design of Tensegrity-Based Manipulators: Comparison of Two Approaches to Respect a Remote Center of Motion Constraint

Begey, Jérémy; Vedrines, Marc; Renaud, Pierre

doi:10.1109/lra.2020.2969190

Cited by 8 publications

(4 citation statements)

References 17 publications

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“…These two SCs share the member l 26 for compactness and high stiffness, which is different from the manipulator introduced in Ref. [24]. The proposed mechanism consists of seven passive linear springs, two passive bars, two actuated cables, and two actuated bars.…”

Section: Configuration and Actuation Modementioning

confidence: 99%

“…Their research revealed that the actuation mode has significant effects on the behavior of the Snelson Cross. Based on the idea of using SCs as building blocks for assembly, they investigated two planar tensegrity manipulators that meet a remote center of motion constraint [24]. Generally, the performance of the TM is directly determined by installation position, size, and springs.…”

Section: Introductionmentioning

confidence: 99%

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Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint

et al. 2021

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Tensegrity mechanisms (TM) are well-appraised for their compliance and lightweight, making their design theory a hot research topic recently. However, due to unconstrained DOFs, the design and analysis of TMs are generally more complicated than traditional mechanisms composed of rigid links and joints. A compact 3-DOF tensegrity manipulator is introduced and an advanced two-step kinematic modeling method is proposed in this paper. This method is first assumed that bars and cables are rigid to estimate the equilibrium state using the energy-based method. Then, the flexibility of bars and cables is considered, and the force density method equations are solved utilizing the equilibrium state obtained by the previous step as the initial guess of iteration for fast computation. Based on the two-step method, the performances of the TM, such as workspace, manipulability, potential energy, and stiffness, are analyzed. Thereafter, the installation position and size of the manipulator are optimized under the workspace constraint. In the optimization process, discrete points on the prescribed task workspace contour are used to simplify the constraint to improve computational efficiency. Finally, study cases are investigated to validate the proposed method, and the feasibility of the discrete sampling method for constraint simplification is also verified.

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Section: Configuration and Actuation Modementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint

et al. 2021

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“…Another solution consists in designing continuum robots, i.e. robots with a smooth body and a hard/compliant surface [20]. Those robots can have remote or intrinsic actuation.…”

Section: Introductionmentioning

confidence: 99%

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Muralidharan

Testard

Chevallereau

et al. 2023

Journal of Mechanisms and Robotics

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This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging in series several tensegrity joints, called modules. A comparative study of several modules revealed that the X module, in contrast to modules based on pivots, allows one to increase joint stiffness by increasing antagonistic input forces like during muscle coactivation. For a planar manipulator with N modules, antagonistic actuation schemes with 2N and N+1 cables are proposed and compared. It is shown that the N+1 cable actuation scheme allows controlling both the manipulator configuration and joint stiffness satisfactorily. As compared with a manipulator with 2N active cables, one on each side of each module, higher forces are required to achieve the manipulator configuration. However, the N+1 cable actuation scheme is a reasonable solution that allows reducing moving masses and cost while offering more flexibility.

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“…Goyal et al developed tensegrity robotics with gyros as the actuators [25]. Begey et al demonstrated two approaches, Xshaped tensegrity mechanisms and an analogy with scissor structures, for the design of tensegrity-based manipulators [26].…”

Section: Introductionmentioning

confidence: 99%

Markov Data-Based Reference Tracking of Tensegrity Morphing Airfoils

Shen,

Chen,

Majji

et al. 2020

Preprint

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This letter presents a data-based control design for reference tracking applications. This design finds the optimal control sequence, which minimizes a quadratic cost function consisting of tracking error and input increments over a finite interval [0, N ]. The only information needed is the first N + 1 Markov parameters of the system. This design is employed on a tensegrity morphing airfoil whose topology has been described in detail in this letter. A NACA 2412 airfoil with specified morphing targets is chosen to verify the developed design. The principle developed in this letter is also applicable to other structural control problems.

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Design of Tensegrity-Based Manipulators: Comparison of Two Approaches to Respect a Remote Center of Motion Constraint

Cited by 8 publications

References 17 publications

Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint

Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Markov Data-Based Reference Tracking of Tensegrity Morphing Airfoils

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