The Stability and Stiffness Analysis of a Dual-Triangle Planar Rotation Mechanism

Wanda Zhao (1, 2) , Anatol Pashkevich (1, 3) , Alexandr Klimchik (4) , Damien Chablat (1, 2)

1 LS2N - équipe ReV - Robotique Et Vivant
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 IMT Atlantique - DAPI - Département Automatique, Productique et Informatique
4 Innopolis University

The paper deals with the stiffness analysis and stability study of equilibrium configurations for dual-triangle tensegrity mechanism, which is actuated by adjusting elastic connections between the triangle edges. For this mechanism, the torquedeflection relation was obtained as a function of control inputs and geometric parameters. It was proved that the mechanism can has either a single or three equilibrium configurations that can be both stable and unstable. Corresponding conditions of stability were found allowing user to choose control inputs ensuring the mechanism controllability. The obtained results are confirmed by the simulation examples presented in the paper.

Mots clés: Tensegrity mechanisms; Equilibrium configurations; Stability analysis

Domaines: Robotique [cs.RO]

Wanda Zhao, Anatol Pashkevich, Alexandr Klimchik, Damien Chablat. The Stability and Stiffness Analysis of a Dual-Triangle Planar Rotation Mechanism. ASME 2020 : International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2020, Virtual, United States. ⟨10.1115/DETC2020-22076⟩. ⟨hal-03147414⟩