Abstract: This paper presents the stiffness analysis of a planar 2DOF tensegrity mechanism. A stiffness model is first derived based on an existing formulation. Several stiffness indices having physical ...

Abstract: Tensegrity mechanisms are interesting candidates for high-acceleration robotic applications since their use of cables allows for a reduction in the weight and inertia of their mobile parts. In ...

Abstract: It is a generally well-known fact that the design of parallel mechanisms while optimizing performance is quite difficult. In this paper, a reliable synthesis method capable of optimally selecting ...

Abstract: The use of tensegrity systems as structures has been extensively studied. However, their development for use as mechanisms is quite recent even though they present such advantages as reduced ...

Abstract: One of the drawbacks of conventional mechanisms is the significant inertia of their moving parts. Tensegrity mechanisms, which have a reduced mass because of their extensive use of cables and ...

Abstract: The computation of the equilibrium configurations of tensegrity mechanisms is often a very tedious task even for relatively simple architectures. However, it has been observed that the complexity ...