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Tensegrity Mechanisms

Figure TM-1: The given tensegrity mechanism comprises of two platforms (black texture triangles) are joined by two springs (marked in red) and one strut (marked in green). The non-linear nature of the equilibrium orientation equations results in more than one equilibrium position for given free-lengths of the springs. The plot on the right illustrates the change in base angle (equilibrium positions) with change in length L01 while L02 is fixed at zero. The number of equilibrium positions start with four (4) at L01=0 and increase to as much as 10 solutions.

Publications

  1. V. Vikas, "Kinematic analysis of a planar tensegrity mechanism with pre-stressed springs", MS Thesis, University of Florida 2008. [pdf]
  2. C. D. Crane III, J. Bayat, V. Vikas and R. Roberts, "Kinematic analysis of a planar tensegrity mechanism with pre-stressed springs" in Advances in Robot Kinematics : Analysis and Design, Springer Verlag 2008. [DOI:10.1007/978-1-4020-8600-7_44]