A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints
This paper proposes a new kind of light-weight manipulators suitable for safe interactions.
The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints …
The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints …
Kinetostatic analysis and actuation strategy of a planar tensegrity 2-X manipulator
A planar tensegrity manipulator made of two X-mechanisms in series is studied in this paper.
Contrary to a classical 2-R linkage, the proposed architecture does not contain elements …
Contrary to a classical 2-R linkage, the proposed architecture does not contain elements …
Dynamic modeling and control of a tensegrity manipulator mimicking a bird neck
This paper studies a tensegrity manipulator mimicking a bird neck. This manipulator is built
upon assembling several X-shape one-dof tensegrity mechanisms in series. A methodology …
upon assembling several X-shape one-dof tensegrity mechanisms in series. A methodology …
Selection of actuation mode for tensegrity mechanisms: The case study of the actuated Snelson cross
Tensegrity mechanisms are self-stressed and deployable mechanisms which provide
interesting properties such as high resistance-to-mass ratio and compliance. Despite a …
interesting properties such as high resistance-to-mass ratio and compliance. Despite a …
Design and analysis of a tensegrity mechanism for a bio-inspired robot
Pi** inspection robots are of greater interests in industries such as nuclear, chemical and
sewage. The design of such robots is highly challenging owing to factors such as locomotion …
sewage. The design of such robots is highly challenging owing to factors such as locomotion …
[HTML][HTML] Mechanism properties of a bird-neck bionic rigid-flexible structure
X Sun, J Xu, Z Qi - Fundamental Research, 2024 - Elsevier
By the biological construction of a bird neck, a bionic bird-neck multilevel rigid-flexible
structure is proposed and some biometric properties are explained. The proposed structure …
structure is proposed and some biometric properties are explained. The proposed structure …
Kinematics analysis and optimization of a 3-DOF planar tensegrity manipulator under workspace constraint
Y Dong, J Ding, C Wang, X Liu - Machines, 2021 - mdpi.com
Tensegrity mechanisms (TM) are well-appraised for their compliance and lightweight,
making their design theory a hot research topic recently. However, due to unconstrained …
making their design theory a hot research topic recently. However, due to unconstrained …
Design of tensegrity-based manipulators: Comparison of two approaches to respect a remote center of motion constraint
J Begey, M Vedrines, P Renaud - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
Tensegrity mechanisms can offer key features such as compliance and deployability for high
compactness. The absence of systematic design methods has however strongly limited their …
compactness. The absence of systematic design methods has however strongly limited their …
Stiffness analysis of a new tensegrity mechanism based on planar dual-triangles
The paper deals with the stiffness analysis and stability study of a new type of tensegrity
mechanism based on dual-triangle structures, which actuated by adjusting elastic …
mechanism based on dual-triangle structures, which actuated by adjusting elastic …
Modelling, design and control of a bird neck using tensegrity mechanisms
In birds, the neck exhibits remarkable performances and serves as a dextrous arm for
performing various tasks. Accordingly, it is an interesting bioinspiration for designing new …
performing various tasks. Accordingly, it is an interesting bioinspiration for designing new …