Compared with conventional mechanisms, tensegrity mechanisms have many attractive characteristics such as light weight, high\nratio of strength to weight, and accuracy of modeling. In this paper, the kinematics, singularity, and workspaces of a planar 4-\nbar tensegrity mechanism have been investigated. Firstly, the analytical solutions to the forward and inverse kinematic problems\nare found by using an energy based method. Secondly, the definition of a tensegrity mechanism�s Jacobian is introduced. As a\nconsequence, the singularity analysis of the planar 4-bar tensegrity mechanism has been completed. Thirdly, the actuator and\noutput workspaces are mapped. Finally, some attractive characteristics of the mechanism are concluded.
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