The objective of this study is to present an analytical procedure for analysis of a compliant tensegrity mechanism focusing on its stiffness and dynamic characteristics. The screw calculus is used to derive the static equations and stiffness matrix of a full degree-of-freedom tensegrity mechanism, and the equations of motion are derived based on the principle of virtual work. Finally, some numerical examples are solved for the inverse dynamics of the mechanism.
Issue Section:
Research Papers
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