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Erschienen in:
2018 | OriginalPaper | Buchkapitel
Dynamic Analysis of a Compliant Tensegrity Structure for the Use in a Gripper Application
verfasst von : Susanne Sumi, Philipp Schorr, Valter Böhm, Klaus Zimmermann
Erschienen in: Dynamical Systems in Theoretical Perspective
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Abstract
The use of compliant tensegrity structures in robotic applications offers several advantageous properties. In this work the dynamic behaviour of a planar tensegrity structure with multiple static equilibrium configurations is analysed, with respect to its further use in a two-finger-gripper application. In this application, two equilibrium configurations of the structure correspond to the opened and closed states of the gripper. The transition between these equilibrium configurations, caused by a proper selected actuation method, is essentially dependent on the actuation parameters and on the system parameters. To study the behaviour of the dynamic system and possible actuation methods, the nonlinear equations of motion are derived and transient dynamic analyses are performed. The movement behaviour is analysed in relation to the prestress of the structure and actuation parameters.