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Stacked Tensegrity Mechanism for Medical Application

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Advances in Robot Kinematics 2022 (ARK 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 24))

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Abstract

In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top, resulting in a tapered shape from base to tip like an elephant trunk. The system was mechanically formulated as having linear springs and cables functioning as actuators. The singularities, as well as the stability of the parallel mechanism, were analyzed by using the principle of minimum energy. Optimization was also done to obtain the greatest angular deflection for a segment according to a ratio between the size of the base and the moving platform of the robotic system. The result of this work is a family of mechanisms that can generate the same workspace for different stability properties.

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Author information

Authors and Affiliations

  1. BioMedical Application Division, CSIR-Central Scientific Instruments Organisation, Chandigarh, India

    Dhruva Khanzode & Ranjan Jha

  2. Academy of Scientific and Innovative Research (AcSIR), Ghaziabad, Uttar Pradesh, 201002, India

    Dhruva Khanzode & Ranjan Jha

  3. Laboratoire des Sciences du Numérique de Nantes, UMR CNRS 6004, Nantes, France

    Damien Chablat

  4. CHU Nantes-Centre Hospitalier Universitaire de Nantes, Nantes, France

    Emilie Duchalais

Authors
  1. Dhruva Khanzode
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  2. Ranjan Jha
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  3. Emilie Duchalais
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  4. Damien Chablat
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Corresponding author

Correspondence to Damien Chablat .

Editor information

Editors and Affiliations

  1. Faculty of Engineering in Bilbao, University of the Basque Country, Bilbao, Spain

    Oscar Altuzarra

  2. Inst. für Mechatronik und Systemdynamik, University of Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

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Khanzode, D., Jha, R., Duchalais, E., Chablat, D. (2022). Stacked Tensegrity Mechanism for Medical Application. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_16

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