Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint

Tensegrity mechanisms (TM) are well-appraised for their compliance and lightweight, making their design theory a hot research topic recently. However, due to unconstrained DOFs, the design and analysis of TMs are generally more complicated than traditional mechanisms composed of rigid links and join...

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Autores principales:	Yang Dong, Jianzhong Ding, Chunjie Wang, Xueao Liu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	tensegrity mechanism kinematics force density method optimization workspace constraint Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/769d83cfc0794439a341509d4507ac0e
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spelling	oai:doaj.org-article:769d83cfc0794439a341509d4507ac0e2021-11-25T18:12:04ZKinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint10.3390/machines91102562075-1702https://doaj.org/article/769d83cfc0794439a341509d4507ac0e2021-10-01T00:00:00Zhttps://www.mdpi.com/2075-1702/9/11/256https://doaj.org/toc/2075-1702Tensegrity mechanisms (TM) are well-appraised for their compliance and lightweight, making their design theory a hot research topic recently. However, due to unconstrained DOFs, the design and analysis of TMs are generally more complicated than traditional mechanisms composed of rigid links and joints. A compact 3-DOF tensegrity manipulator is introduced and an advanced two-step kinematic modeling method is proposed in this paper. This method is first assumed that bars and cables are rigid to estimate the equilibrium state using the energy-based method. Then, the flexibility of bars and cables is considered, and the force density method equations are solved utilizing the equilibrium state obtained by the previous step as the initial guess of iteration for fast computation. Based on the two-step method, the performances of the TM, such as workspace, manipulability, potential energy, and stiffness, are analyzed. Thereafter, the installation position and size of the manipulator are optimized under the workspace constraint. In the optimization process, discrete points on the prescribed task workspace contour are used to simplify the constraint to improve computational efficiency. Finally, study cases are investigated to validate the proposed method, and the feasibility of the discrete sampling method for constraint simplification is also verified.Yang DongJianzhong DingChunjie WangXueao LiuMDPI AGarticletensegrity mechanismkinematicsforce density methodoptimizationworkspace constraintMechanical engineering and machineryTJ1-1570ENMachines, Vol 9, Iss 256, p 256 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	tensegrity mechanism kinematics force density method optimization workspace constraint Mechanical engineering and machinery TJ1-1570
spellingShingle	tensegrity mechanism kinematics force density method optimization workspace constraint Mechanical engineering and machinery TJ1-1570 Yang Dong Jianzhong Ding Chunjie Wang Xueao Liu Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint
description	Tensegrity mechanisms (TM) are well-appraised for their compliance and lightweight, making their design theory a hot research topic recently. However, due to unconstrained DOFs, the design and analysis of TMs are generally more complicated than traditional mechanisms composed of rigid links and joints. A compact 3-DOF tensegrity manipulator is introduced and an advanced two-step kinematic modeling method is proposed in this paper. This method is first assumed that bars and cables are rigid to estimate the equilibrium state using the energy-based method. Then, the flexibility of bars and cables is considered, and the force density method equations are solved utilizing the equilibrium state obtained by the previous step as the initial guess of iteration for fast computation. Based on the two-step method, the performances of the TM, such as workspace, manipulability, potential energy, and stiffness, are analyzed. Thereafter, the installation position and size of the manipulator are optimized under the workspace constraint. In the optimization process, discrete points on the prescribed task workspace contour are used to simplify the constraint to improve computational efficiency. Finally, study cases are investigated to validate the proposed method, and the feasibility of the discrete sampling method for constraint simplification is also verified.
format	article
author	Yang Dong Jianzhong Ding Chunjie Wang Xueao Liu
author_facet	Yang Dong Jianzhong Ding Chunjie Wang Xueao Liu
author_sort	Yang Dong
title	Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint
title_short	Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint
title_full	Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint
title_fullStr	Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint
title_full_unstemmed	Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint
title_sort	kinematics analysis and optimization of a 3-dof planar tensegrity manipulator under workspace constraint
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/769d83cfc0794439a341509d4507ac0e
work_keys_str_mv	AT yangdong kinematicsanalysisandoptimizationofa3dofplanartensegritymanipulatorunderworkspaceconstraint AT jianzhongding kinematicsanalysisandoptimizationofa3dofplanartensegritymanipulatorunderworkspaceconstraint AT chunjiewang kinematicsanalysisandoptimizationofa3dofplanartensegritymanipulatorunderworkspaceconstraint AT xueaoliu kinematicsanalysisandoptimizationofa3dofplanartensegritymanipulatorunderworkspaceconstraint
_version_	1718411504048406528

Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint

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