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STIFFNESS ANALYSIS OF A 2-DOF PLANAR TENSEGRITY MECHANISM

被引：0
|
作者：
Arsenault, Marc [1 ]
机构：
[1] Royal Mil Coll Canada, Dept Mech Engn, Kingston, ON K7K 7B4, Canada
来源：
DETC 2008: 32ND ANNUAL MECHANISMS AND ROBOTICS CONFERENCE, VOL. 2, PTS A & B | 2009年
关键词：
DYNAMIC-ANALYSIS;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a general method to perform the stiffness analysis of tensegrity mechanisms. The method is based on an existing stiffness matrix model. Several stiffness indices having physical meaning are introduced As an example, the method is applied to a planar 2-DoF tensegrity mechanism. Stiffness mappings based on the stiffness indices are generated for the mechanism's workspace. It is shown for the example mechanism that the effect of the prestress on the stiffness is not significant when linear stiffness models of the components are assumed.
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页码：73 / 83
页数：11
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