Conference Paper presented at The Joint International Conference of the XII International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXIII International Conference on Robotics (Robotics ’16) ; 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. ; The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Economía y Competitividad (Project DPI2015-64450-R) and the Regional Government of the Basque Country through the Departamento de Educación, Universidades e Investigación (Project IT445-10) and UPV/EHU under program UFI 11/29.
Kinematic Analysis of a Flexible Tensegrity Robot
2017-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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