Kinematic Analysis of a Flexible Tensegrity Robot
Altuzarra Maestre, Oscar
Díez Sánchez, Mikel
Corral Saiz, Javier
Campa Gómez, Francisco Javier
New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science 46 : 457-464 (2017)
In the field of parallel kinematics few designs use highly deformable elements to obtain the end effector movement. Most compliant mechanisms rely on notches or shape changes to simulate a standard kinematic joint. In this work a kinematic model of a simple parallel continuum mechanism that combines a deformable element and cable is presented. The kinematic model is used to study the workspace of the manipulator and is validated by experimental measurements of a prototype.