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27-09-2024 | Research

A form-finding method for deployable tensegrity arms and inverse kinematics

Authors: Victor Paiva, Luis Silva-Teixeira, Jaime Izuka, Eduardo Okabe, Paulo Kurka

Published in: Meccanica | Issue 1/2025

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Abstract

Manipulator arms in robots can be bulky and difficult to transport. Tensegrity mechanisms, which can be compact, deployed, and shaped to adjustable lengths, offer a promising alternative for robotic manipulators. This work develops a methodology for class 2 tensegrity mechanisms formed by cylindrical modules, using nonlinear programming to design a deployable tower capable of complex shape transformations, such as bowing. The study starts by deploying the structure from a compact shape into a tower, thereby enhancing its transportability and impact resistance. Next, a form-finding procedure assigns a bowing movement to the tower by pulling specific cables, using a kinematical method and nonlinear programming to achieve a stable configuration. Finally, the workspace of the mechanism is approximated through surface fitting, and three inverse kinematics functions are defined using artificial neural networks, sequential quadratic programming and a genetic algorithm. The example presented uses six quadruplex modules, but the floor and ceiling functions applied make it valid for any cylindrical tensegrity stacking.

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Title: A form-finding method for deployable tensegrity arms and inverse kinematics
Authors: Victor Paiva
Luis Silva-Teixeira
Jaime Izuka
Eduardo Okabe
Paulo Kurka
Publication date: 27-09-2024
Publisher: Springer Netherlands
Published in: Meccanica / Issue 1/2025
Print ISSN: 0025-6455
Electronic ISSN: 1572-9648
DOI: https://doi.org/10.1007/s11012-024-01880-5

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A form-finding method for deployable tensegrity arms and inverse kinematics

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Other articles of this Issue 1/2025

A simple method for solving damped Duffing oscillators

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On the effect of vertical motion of roll system upon dynamic behavior and stability of rolling mill

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Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

A simple method for solving damped Duffing oscillators

A loaded tooth contact analysis (LTCA) model of profile modified gears

Multi-state meshing characteristics and global nonlinear dynamics of a spur gear system considering local tooth breakage

On the effect of vertical motion of roll system upon dynamic behavior and stability of rolling mill

Dynamics analysis of the round-wheel compound bow model

Comparative study of elastic properties measurement techniques during plastic deformation of aluminum, magnesium, and titanium alloys: application to springback simulation