On Advances in Robot Kinematics

01/2004; DOI: 10.1115/DETC2007-34249


This paper presents a closed-form analysis of a two-spring planar tensegrity mechanism to determine all possible equilibrium configurations for the device when no external forces or moments are applied. The equilibrium position is determined by identifying the configurations at which the potential energy stored in the two springs is a minimum. A 28th degree polynomial expressed in terms of the length of one of the springs is developed where this polynomial identifies the cases where the change in potential energy with respect to a change in the spring length is zero. A numerical example is presented.

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    • "They can be found in various applications including tensegrity systems [4] [5] [6], remote center compliance devices [7] for industrial robots, statically balanced devices [8] and so on. Numerous pieces of work have been done on the kinematics of traditional or rigid body Stewart-Gough platforms. "
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