Form-Finding Analysis of a Class 2 Tensegrity Robot

Manríquez-Padilla, Carlos G.; Zavala-Pérez, Oscar A.; Pérez-Soto, Gerardo I.; Rodríguez‐Reséndiz, Juvenal; Camarillo‐Gómez, Karla A.

doi:10.3390/app9152948

Cited by 5 publications

(6 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For the form-finding analysis of the proposed class 2 tensegrity robot, the methodology presented in [20] is applied, where the set of all possible geometric configurations of the robot provided by θ 1 and θ 2 are analyzed, and a subset of equilibrium configurations provided by θ e1 and θ e2 is determined.…”

Section: Form-finding Analysismentioning

confidence: 99%

“…For the class 2 tensegrity robot reported in [13] and illustrated in Figure 1, C.G. Manríquez-Padilla et al [20] proposed a solution strategy for the form-finding analysis based on a combination of the fundamental principles of statics and the direct and inverse kinematic position analysis using the geometric parameters proposed by Denavit-Hartenberg [21]. In the same study, a case was presented wherein 14,641 geometric configurations were analyzed, and only 215 were classified as equilibrium geometric configurations.…”

Section: Introductionmentioning

confidence: 99%

“…Consequently, the strategies to modify the workspace of intricate tensegrity-structuresbased robots have not been fully defined due to the complexity of the interaction of the elements [22]. Therefore, based on the outcomes presented in [20], this paper introduces a redesign of the class 2 tensegrity robot. The redesign involves altering the mode of interaction between the flexible and rigid elements comprising the class 2 tensegrity robot, as depicted in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Novel Technique to Increase the Effective Workspace of a Soft Robot

Pérez-Soto,

Camarillo-Gómez,

Rodríguez-Reséndiz

et al. 2024

Micromachines

Self Cite

View full text Add to dashboard Cite

This article presents a novel technique for a class 2 tensegrity robot, also classified as a soft robot, to increase workspace by increasing the number of geometric equilibrium configurations of the robot. The proposed modification, unlike the strategies reported in the literature, consists of increasing the number of points where the flexible and rigid elements that make up the robot come into contact without the need to increase the number of actuators, the number of flexible elements, or modify the geometry of the rigid elements. The form-finding methodology combines the basic principles of statics with the direct and inverse kinematic position analysis to determine the number of equilibrium positions of the modified robot. In addition, numerical experiments were carried out using the commercial software ANSYS®, R18.2 based on the finite element theory, to corroborate the results obtained with them. With the proposed modification, an increase of 23.369% in the number of geometric equilibrium configurations is achieved, which integrates the workspace of the modified class 2 tensegrity robot. The novel technique applied to tensegrity robots and the tools developed to increase their workspace apply perfectly to scale the robots presented in this paper.

show abstract

Section: Form-finding Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Novel Technique to Increase the Effective Workspace of a Soft Robot

Pérez-Soto,

Camarillo-Gómez,

Rodríguez-Reséndiz

et al. 2024

Micromachines

Self Cite

View full text Add to dashboard Cite

show abstract

“…In fact, the authors of the present work have found a picture from 1921 (Figure 1) where Karl Ioganson's tensegrity prototypes can be seen with the first example of a Simplex [2,3], which was patented some decades later. Tensegrity governs the behavior of many structures within the engineering scope [4]. Throughout the years, many definitions have been given to this principle.…”

Section: Introductionmentioning

confidence: 99%

Tensegrity Applications to Architecture, Engineering and Robotics: A Review

Gomez-Jauregui,

Carrillo-Rodriguez,

Manchado

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

Tensegrity structures are prestressed and self-stable pin-connected frameworks built up mainly from two kind of elements, in compression (bars) and in tension (tendons). It has been 75 years since the first official appearance of tensegrity, although the present paper includes proof that states that they are in fact more than 100 years old. Throughout these years, tensegrity structures have been capturing engineers’, architects’ and artists’ attention with their peculiar properties. In the last decade, new applications have been found based on tensegrity, although there are not any compilations about them. This paper aims to fill this gap by giving an overview of all the recent real applications that tensegrity has had during its short life, at the same time exposing its potential in all the fields it has contributed to (AEC, robotics, space, etc.) The methodology for performing this review has been revisiting the most relevant publications in several scientific databases. This has led to a new discovery: the first cable-dome by Snelson. As a conclusion, tensegrity has been providing useful solutions to previous problems since they have appeared, but their potential can still grow in an exponential way due to the new technologies and discoveries of the last decade.

show abstract

“…If the measurement of these extensions is not available, static modeling is considered. Several methods have been proposed in the literature to determine the equilibrium configurations of tensegrity mechanisms [8,15]. Static workspace computation, using a continuous approach, has been proposed by [2] for a 2-DoF tensegrity mechanism.…”

Section: Introductionmentioning

confidence: 99%

Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism

Cruz-Martinez

Ávila-Vilchis

Vilchis-González

et al. 2020

Advances in Robot Kinematics 2020

View full text Add to dashboard Cite

This paper deals with the impact of the design parameters on the static workspace and the stiffness range of a planar 3-DoF tensegrity mechanism. The static model is established through the energetic approach and the stiffness is derived analytically along the 3-DoF of the mechanism. The design parameters considered here are the spring stiffness and the location of the mechanism attachment points to the base. Results on the impact of these parameters are finally analyzed. This analysis constitutes a first step towards the geometric optimization of tensegrity mechanisms.

show abstract

Form-Finding Analysis of a Class 2 Tensegrity Robot

Cited by 5 publications

References 22 publications

Novel Technique to Increase the Effective Workspace of a Soft Robot

Novel Technique to Increase the Effective Workspace of a Soft Robot

Tensegrity Applications to Architecture, Engineering and Robotics: A Review

Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism

Contact Info

Product

Resources

About