Presentado al 12th ETFA celebrado del 25 al 28 de septiembre de 2007 en Patras (Grecia). ; Tensegrity structures can give a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that may be able to adapt their form to unconstrained environments. The main issue of this paper is to present the dynamic equations of motion for such structures, analysed from a Lagrangian point of view, and thinking in using them as mobile robots of arbitrary form and size. ; This work was supported by projects: 'Estudio de estructuras tensegrity para el desarrollo de sensores manipuladores y robots móviles' (4798), 'Estudio y diseño de manipulador mecánico sobreactuado basado en estructuras tensigrity' (4801/Ref.CIT-020400-2007-78). ; This work has been partially supported by projects DPI2006-14001 and Profit CIT-020400-2007-78 both financed by the Spanish Education and Science Ministry. ; Peer Reviewed
Dynamic equations of motion for a 3-bar tensegrity based mobile robot
01.01.2007
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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