Abstract
This paper analyses the dynamics of an antagonistically actuated tensegrity mechanism. The mechanism is subject to gravity effects, which produce both stable and unstable equilibrium configurations. The workspace is shown to be not necessarily connected and its size depends on both the geometric, spring and actuator parameters of the mechanism. The antagonistic actuation forces, which are bounded, enable controlling both the stiffness and the position within certain limits. A computed torque control law is applied and simulations show interesting behaviors of the mechanism when the desired motion makes the mechanism jump between two connected components of the workspace.
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Acknowledgement
This work was conducted with the support of the French National Research Agency (AVINECK Project ANR-16-CE33-0025).
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© 2019 CISM International Centre for Mechanical Sciences
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van Riesen, A., Furet, M., Chevallereau, C., Wenger, P. (2019). Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_60
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DOI: https://doi.org/10.1007/978-3-319-78963-7_60
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