STIFFNESS AND DYNAMIC ANALYSIS OF A PLANAR CLASS-2 TENSEGRITY MECHANISM

被引：1
|
作者：
Ji, Zhifei [1 ]
Li, Tuanjie [1 ]
Lin, Min [1 ]
机构：
[1] Xidian Univ, Sch Electromech Engn, Xian, Peoples R China
来源：
TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING | 2015年 / 39卷 / 01期
基金：
中国国家自然科学基金;
关键词：
dynamic model; kinematic model; tensegrity; DESIGN;
D O I：
10.1139/tcsme-2015-0004
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Tensegrity mechanisms have several attractive characteristics such as light-weight, deployable and easily modeled. In this paper, the stiffness and dynamics of a planar class-2 tensegrity mechanism are studied. Firstly, the solutions to the kinematic problems are found by using a method of reduced coordinates. Then, the stiffness of the mechanism is investigated on the basis of a stiffness matrix. The mechanism's stiffnesses along directions defined nodal coordinates are computed. Finally, a dynamic model is derived and the motions of the mechanism are simulated.
引用
收藏
页码：37 / 52
页数：16
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