Kinematic, Static, and Dynamic Analysis of a Spatial Three-Degree-of-Freedom Tensegrity Mechanism

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 springs, represent a potential alternative to these mechanisms for certain types of applications. In this paper a new spatial three-degree-of-freedom tensegrity mechanism is developed and analyzed. Mathematical models of the kinematics, statics, and dynamics of the mechanism are generated. These models reveal several characteristics of the fundamental behavior of tensegrity mechanisms that make them rather unique.